Add asset bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823

.gitattributes

@@ -8044,3 +8044,4 @@ dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/affordance/mes
 dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6b753291015c5fbd84c792962d467ad1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6bc601ec4e3a52b8b37f9aea1b2d954e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/6c15732d7aa450c1b4c3c3e957c0c823.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/affordance/affordance_annot.json

@@ -0,0 +1,115 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim and sidewall to lift or carry the plastic bin",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "clamp the sidewalls to pick up and reposition the empty bin",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while inserting or removing contents",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main structure",
+                "support the load",
+                "present broad grasp surfaces",
+                "protect contents"
+            ],
+            "semantic_description": "Large orange plastic bin body with a hard smooth slightly glossy surface, tapered rectangular shape with rounded corners, thick rolled rim, and broad walls forming the main container.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_26": {
+                    "confidence": 0.9620032906532288,
+                    "position": [
+                        0.05861816380638629,
+                        -0.20646646758541465,
+                        0.24177775415591896
+                    ],
+                    "orientation": {
+                        "w": 0.2406221302191375,
+                        "xyz": [
+                            -0.7458256063064969,
+                            0.6080128776409014,
+                            0.1271436040435436
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9596502780914307,
+                    "position": [
+                        0.07335880224127322,
+                        -0.20636542281135917,
+                        0.2490456763189286
+                    ],
+                    "orientation": {
+                        "w": 0.19987271444502408,
+                        "xyz": [
+                            -0.7113734224801949,
+                            0.6406878096587033,
+                            0.20860940142746487
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.959104597568512,
+                    "position": [
+                        0.03935488511342555,
+                        -0.20989491185173392,
+                        0.24241263302974403
+                    ],
+                    "orientation": {
+                        "w": 0.1880172767353062,
+                        "xyz": [
+                            -0.6289738542687975,
+                            -0.7157378832731227,
+                            -0.23824499311213818
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle to lift or drag the bin",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch a side handle to pull the bin from a shelf or floor",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold a side handle to stabilize and reorient the bin during transport",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a dedicated grip point",
+                "lift the bin",
+                "pull the bin",
+                "help stabilize carrying",
+                "indicate side access points"
+            ],
+            "semantic_description": "Small orange plastic handle integrated near the upper side of the bin, with a hard smooth slightly glossy finish and narrow rectangular loop-like shape protruding from the rim area.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612ffe4f95cd5a12907e5747f08b74c1e71b333f91975ee4258828dd29bce55a
+size 2479412