Add asset bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa

.gitattributes

@@ -8101,3 +8101,4 @@ dataset/bedroom_supplies/storage/a2cb36d841de5add8482b4d3f6a8ef89/affordance/mes
 dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/a9ee9ba5e1fe5f8ab4a4915ac49a35aa.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/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/affordance_annot.json

@@ -0,0 +1,66 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up or reposition the empty plastic bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold opposing outer walls to stabilize the bin during placement or stacking",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the lower body to pull the bin from a shelf or conveyor",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main structure",
+                "support stacking",
+                "present side grasp surfaces",
+                "support the base while loaded"
+            ],
+            "semantic_description": "Large tapered orange plastic container body with a hard smooth slightly glossy surface, broad square walls, and integrated lower feet and cutout features forming the main volume of the bin.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the reinforced top rim to lift or reposition the bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pinch the rim edge to pull the bin forward from storage",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while placing contents inside",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "reinforce opening",
+                "provide grasp edge",
+                "define the opening",
+                "aid lifting and pulling",
+                "stiffen the upper structure"
+            ],
+            "semantic_description": "Thick orange plastic rim around the square opening, with a hard smooth slightly glossy finish and rounded edges that form a continuous reinforced lip at the top of the bin.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5daeb445472d8d338e2ee5c9814f387d5ddc3d85e1c7b7f96e0fc6b0a54b488
+size 1969284