Add asset bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a

.gitattributes

@@ -8088,4 +8088,4 @@ dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mes
 dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9768522371b552818c4449dc2a45b6c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/98a034dae6f9578194dc8dd4f27b222a.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/98a034dae6f9578194dc8dd4f27b222a/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the empty bin",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin during placement",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pinch the tapered side near the upper half to reorient the bin",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "provide side grasp surfaces",
+                "support stacking or placement"
+            ],
+            "semantic_description": "Large bright pink plastic body with a slightly glossy smooth hard surface, tapered rectangular tub shape, and subtle vertical reinforcing ribs along the sides and corners.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.8805579543113708,
+                    "position": [
+                        -0.0961297347676009,
+                        0.00240074162138626,
+                        0.2453512530773878
+                    ],
+                    "orientation": {
+                        "w": 0.03244457752517013,
+                        "xyz": [
+                            0.026825246061567214,
+                            0.9969781527087889,
+                            0.0652864349181419
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim edge to lift or pull the empty bin",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while another gripper accesses the interior",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "grasp a rim corner to rotate or align the bin",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "provide a lift edge",
+                "protect the top edge",
+                "define the opening"
+            ],
+            "semantic_description": "Thick rounded bright pink plastic rim with a glossy smooth hard finish, running around the rectangular top opening and protruding slightly beyond the side walls.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support or clamp the base when the bin is upside down or tilted",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "grasp the bottom edge to flip or reorient the empty bin",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide a resting base",
+                "stabilize the structure",
+                "contact the ground or shelf"
+            ],
+            "semantic_description": "Flat bright pink plastic base panel with a smooth slightly glossy hard surface, visible on the underside and lower interior, with shallow molded contours.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle slot",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the side handle opening to pull or reposition the empty bin",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "use the handle cutout as an auxiliary grasp point while stabilizing the bin by the rim",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "assist lifting or pulling",
+                "improve carrying grip"
+            ],
+            "semantic_description": "Small bright pink plastic handle opening or recessed grip located just below the rim on the side wall, with a smooth glossy finish and compact oblong shape.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle slot is misidentified; no real handle opening visible, only tiny ambiguous patches in mask."
+    }
+}

dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617e465ae7e86f6c6574dca980128b7dab127f819b85e92264de56388671bf72
+size 2286192