Add asset bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9

.gitattributes

@@ -5964,3 +5964,4 @@ dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/affordance/mes
 dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1219d6489df755909cb8b83810467bdd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/affordance/affordance_annot.json

@@ -0,0 +1,219 @@
+{
+    "affordances": [
+        {
+            "part_name": "side handle opening",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the handle opening to lift the storage bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hook or pinch the handle opening to pull the storage bin across a surface",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold one handle opening to stabilize the bin during placement",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "enable lifting",
+                "enable pulling",
+                "aid stabilization during transport"
+            ],
+            "semantic_description": "Small oblong cutout integrated near the upper side wall, matching the beige-orange plastic bin with a smooth matte hard surface and rounded edges for gripping.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.538371741771698,
+                    "position": [
+                        -0.06737976241856813,
+                        0.04096358479000628,
+                        0.11611227039247751
+                    ],
+                    "orientation": {
+                        "w": 0.2125733159952706,
+                        "xyz": [
+                            0.9564056655612427,
+                            0.1696765834543884,
+                            0.1063515173205211
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9436348676681519,
+                    "position": [
+                        -0.07900941092520952,
+                        -0.032126180594787,
+                        0.11911598686128855
+                    ],
+                    "orientation": {
+                        "w": 0.17588770473030152,
+                        "xyz": [
+                            -0.9772744093559355,
+                            0.004936566122614033,
+                            -0.11821114354252164
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8374130129814148,
+                    "position": [
+                        -0.05510328058153391,
+                        0.006978884572163224,
+                        0.12225174997001886
+                    ],
+                    "orientation": {
+                        "w": 0.001275018673741619,
+                        "xyz": [
+                            0.011068392935204665,
+                            0.9971872728717309,
+                            -0.07411752712990989
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "opposite side handle opening",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the opposite handle opening to lift the storage bin",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp both side handle openings with two grippers for balanced carrying",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pull the bin by this handle opening to reposition it",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "enable balanced two-sided lifting",
+                "enable pulling",
+                "aid orientation during handling"
+            ],
+            "semantic_description": "Matching oblong handle cutout on the opposite upper side, formed in hard smooth matte plastic with rounded contours and the same beige-orange appearance as the bin.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the thick top rim to pick up or reposition the empty bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the rim edge to tilt and pour out contents",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while another gripper accesses the interior",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "provide an edge grip",
+                "support lifting and tilting",
+                "protect the top edge"
+            ],
+            "semantic_description": "Thick rounded lip running around the top opening, made of hard smooth matte plastic in light beige, slightly raised and broader than the side walls.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_19": {
+                    "confidence": 0.12290678173303604,
+                    "position": [
+                        0.126690405420959,
+                        -0.040176318725571036,
+                        0.058962089009582996
+                    ],
+                    "orientation": {
+                        "w": 0.491836282202141,
+                        "xyz": [
+                            0.4278058096597755,
+                            -0.665302928306248,
+                            -0.36393855843816714
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the empty storage bin",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "clamp the body to stabilize the bin on a work surface",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the body from opposing sides when handles are inaccessible",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main structure",
+                "support stacking or placement",
+                "enclose stored contents"
+            ],
+            "semantic_description": "Large tapered rectangular tub body with beige exterior and orange interior, made of hard smooth matte plastic with broad flat walls and a rounded rectangular base.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_33": {
+                    "confidence": 0.9275015592575073,
+                    "position": [
+                        -0.09838720876723528,
+                        -0.0015365767176263034,
+                        0.11154157016426325
+                    ],
+                    "orientation": {
+                        "w": 0.13543089943878664,
+                        "xyz": [
+                            -0.9617987824493283,
+                            0.07812705712369183,
+                            -0.22471701426768356
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.8927643299102783,
+                    "position": [
+                        0.07265744637697935,
+                        -0.022162763169035316,
+                        0.12034224811941385
+                    ],
+                    "orientation": {
+                        "w": 0.1368261242460454,
+                        "xyz": [
+                            -0.09829102654393664,
+                            -0.9816317733346489,
+                            0.08953517411954583
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8185378c6c75c53583c8d823017ca82dd89e69aaac33a27093e5fe17845e168
+size 3781828