Add asset bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb

.gitattributes

@@ -8050,3 +8050,4 @@ dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/affordance/mes
 dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/709fd558307f548aa95a737a4fc364d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/70a4da9adf73595aa8fd8c07a2665ccb.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/70a4da9adf73595aa8fd8c07a2665ccb/affordance/affordance_annot.json

@@ -0,0 +1,114 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the empty bin",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while another tool accesses the opening",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support the rim",
+                "define interior cavity"
+            ],
+            "semantic_description": "Large bright green plastic bin body with a smooth slightly glossy hard surface, tapered rectangular shape, and deep open cavity forming most of the container.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim from the side to lift or carry the bin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the rim to pull the bin closer on the floor",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the rim to steady the bin during loading or unloading",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide lifting edge",
+                "stiffen the opening",
+                "protect upper edge",
+                "guide access to interior"
+            ],
+            "semantic_description": "Wide bright green plastic lip around the opening with a rounded slightly glossy hard smooth finish, projecting outward as a continuous rectangular rim near the top.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle tab",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the small side tab to pull the bin slightly or reorient it",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "use the tab as a secondary grip point while stabilizing the bin",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "provide side grip point",
+                "assist repositioning",
+                "help with manual handling",
+                "indicate side orientation"
+            ],
+            "semantic_description": "Small bright green plastic tab-like protrusion on the upper side just below the rim, with a smooth hard finish and compact rectangular shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wheel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable rolling movement",
+                "support the bin during transport",
+                "reduce dragging friction",
+                "assist tilting and wheeled repositioning"
+            ],
+            "semantic_description": "Dark gray to black circular wheel mounted near the lower side/rear area, with a thick rounded profile and hard plastic or rubber-like appearance.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower rear bracket",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support wheel mounting",
+                "provide lower rear structural support",
+                "interface with rolling hardware",
+                "stabilize the base when tilted"
+            ],
+            "semantic_description": "Dark nearly black lower rear mounting/bracket area near the bottom center back, with a hard plastic appearance and compact protruding rectangular form.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Orange mask merges wheel and rear mount; red tabs are handles, not generic tabs; rear bracket description/location inaccurate."
+    }
+}

dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18ea6f164e40884a15b9e265aac33008f7b9500302b2d42d4128a53e560faa4d
+size 2325904