Add asset bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2

.gitattributes

@@ -8083,3 +8083,4 @@ dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mes
 dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/9173a268ed5d556abd1e680d842b32d2.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/9173a268ed5d556abd1e680d842b32d2/affordance/affordance_annot.json

@@ -0,0 +1,71 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls of the bin body to pick up and move the empty bin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the bin body to stabilize it while placing or stacking",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main storage volume",
+                "support stacking or placement",
+                "provide broad side surfaces for handling"
+            ],
+            "semantic_description": "Large tapered blue plastic container body with a matte to lightly satin finish, hard smooth surfaces, and plain sloped walls forming most of the bin around the sides and interior.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim from opposing sides to lift or reposition the bin",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the rim to pull the bin from a shelf or align it during placement",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping edge",
+                "stiffen the opening",
+                "define the top opening",
+                "help with pulling and repositioning"
+            ],
+            "semantic_description": "Thick blue plastic rim around the bin opening with a smooth rounded edge, hard slightly matte surface, and a wide rectangular lip at the top perimeter.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom feet",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bin on a surface",
+                "raise the base slightly",
+                "improve stability",
+                "provide clearance under the bin"
+            ],
+            "semantic_description": "Small integrated blue plastic feet at the bottom, with hard smooth surfaces and blocky protruding shapes positioned under the base corners and center for support.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce851bd35fc75cd6c043e74547a6d979be477978189502597f22117ac7e86a9
+size 2808640