Add asset kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736

.gitattributes

@@ -7144,3 +7144,4 @@ dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mes
 dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/a332f0b7769d58edae7f46073f4a6736/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body panels",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the flat side walls to lift or reposition the bin when no handle is available",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "clamp the body panels to stabilize the bin during loading or stacking",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main enclosure panels",
+                "provide side support",
+                "provide broad contact surfaces for handling"
+            ],
+            "semantic_description": "Large off-white rigid panels made of hard matte plastic or painted composite, with smooth slightly textured flat rectangular side surfaces and the main lid/top panel forming the storage box.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner frame",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a corner rail or edge section to drag or reposition the bin slightly",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the frame to stabilize the bin during loading or stacking",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "protect corners",
+                "support stacking",
+                "stiffen the structure"
+            ],
+            "semantic_description": "Beige rigid frame pieces with a satin plastic or painted finish, smooth surfaces, rounded corner caps, and long rails running along the bin edges and vertical corners.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the recessed side handle to pull the storage bin from a shelf",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to help reposition or steady the bin during placement",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "use the handle as one grasp point while jointly lifting the bin with another support point",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "assist handling",
+                "assist carrying with additional support",
+                "indicate handling location"
+            ],
+            "semantic_description": "Small recessed rectangular side handle with a beige outer surround and a darker metallic-looking inner grip/opening, made of smooth hard material and sized for side gripping.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a97d644dacf09f92186b64f598a1a8aa5b536fb472d34a4bf73ca4ede66dd65
+size 3802736

dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/storage_bin_050.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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>