Add asset bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59

.gitattributes

@@ -5948,4 +5948,4 @@ dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/affo
 dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/051d18b94cee54f998aebb84d70060ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/affordance_annot.json

@@ -0,0 +1,132 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and move the storage bin",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "clamp the rim and upper sidewall to reposition the empty bin",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while accessing contents",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main structure",
+                "support the bin on a surface",
+                "provide broad grasp surfaces"
+            ],
+            "semantic_description": "Large light mint-green plastic body with a matte to satin finish, hard smooth surfaces, rounded rectangular tapered shape, and open top forming the main container.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.9318332672119141,
+                    "position": [
+                        -0.07991956791374832,
+                        -0.029305163421668112,
+                        0.1122955308528617
+                    ],
+                    "orientation": {
+                        "w": 0.2206517164875395,
+                        "xyz": [
+                            -0.9689222030450187,
+                            0.031102437873220895,
+                            -0.10740215461447826
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim edge to pick up or reposition the bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the bin during loading or unloading",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the top edge",
+                "support rim grasping",
+                "help maintain container shape"
+            ],
+            "semantic_description": "Thin light mint-green plastic rim around the opening, slightly rounded and smooth with a satin finish, running continuously along the bin's upper edge.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.3716776967048645,
+                    "position": [
+                        0.15044193842913955,
+                        -0.04186628165189177,
+                        0.007132296566851437
+                    ],
+                    "orientation": {
+                        "w": 0.026668084146746374,
+                        "xyz": [
+                            -0.7192956266860221,
+                            0.006160561423848243,
+                            0.6941647226712457
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle slot",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the side handle opening to pull or lift the bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hook or pinch the handle slot to rotate the bin for alignment",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide handhold",
+                "enable lifting",
+                "enable pulling",
+                "indicate carrying side"
+            ],
+            "semantic_description": "Oblong cutout near the upper sidewall, integrated into the light mint-green plastic body with smooth rounded edges and a hard satin-finished surface.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative bow",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the bin",
+                "provide visual embellishment",
+                "indicate front side"
+            ],
+            "semantic_description": "Small front-mounted bow ornament in matching light mint-green material with a central white button-like detail, soft-curved loops, and a smooth slightly glossy decorative finish.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fa043cd19df44fba3185c486062b3c8e0b7ebc6b58f5d96cf1c0a29bb3f76a9
+size 3783300

dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/storage_bin_025.urdf

@@ -57,6 +57,7 @@
                <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>
       <quality>
          <PartSegChecker>YES</PartSegChecker>