Add asset bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a

.gitattributes

@@ -8113,3 +8113,4 @@ dataset/bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde/affordance/mes
 dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/bb157a75b28251cdb63a4b4876ffc755/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/affordance/affordance_annot.json

@@ -0,0 +1,207 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the storage bin when the side handles are not used",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the rim and upper body to reposition the bin on a shelf",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "stabilize the bin by clamping the body during loading or unloading",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the base and walls",
+                "provide side grasp surfaces",
+                "protect contents"
+            ],
+            "semantic_description": "Large red plastic bin body with a smooth matte to semi-gloss finish, rectangular tapered tub shape, rounded rim, and integrated ribbed/slotted side-wall texture over most of the container.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9685609936714172,
+                    "position": [
+                        -0.05848260869970545,
+                        0.12178328668233007,
+                        0.01732298673596233
+                    ],
+                    "orientation": {
+                        "w": 0.525491235576588,
+                        "xyz": [
+                            0.5094325993398855,
+                            0.560049934816753,
+                            -0.38817709692065705
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.966198205947876,
+                    "position": [
+                        -0.1320378286181949,
+                        -0.008299637236632407,
+                        0.013572414754889905
+                    ],
+                    "orientation": {
+                        "w": 0.6397988545301487,
+                        "xyz": [
+                            0.01455321362643149,
+                            0.7679833174987243,
+                            0.02544118233704253
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9613174796104431,
+                    "position": [
+                        0.01559340866515413,
+                        -0.11379350686911494,
+                        -0.00698837183881551
+                    ],
+                    "orientation": {
+                        "w": 0.45177234428783347,
+                        "xyz": [
+                            -0.5678650371512494,
+                            0.42245086567041223,
+                            0.543108013761723
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle bar",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle bar to lift or carry the storage bin",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pull the bin outward from a shelf using the handle bar",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold one handle bar to steady the bin while placing it down",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "enable pulling",
+                "assist repositioning",
+                "connect the handle ends"
+            ],
+            "semantic_description": "Short cylindrical white handle bar with a smooth hard finish, mounted horizontally on each short side and sized as a dedicated grip element.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle end cap",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an end cap to help pull or orient the storage bin from the side",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp across an end cap and nearby handle bar area for a secure side hold",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "terminate the handle",
+                "help retain the handle bar",
+                "protect handle ends",
+                "provide rounded contact points"
+            ],
+            "semantic_description": "Small round blue end caps with a smooth hard plastic appearance and slightly bulbous shape, positioned at both ends of each side handle.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.8434486389160156,
+                    "position": [
+                        0.1453366773785092,
+                        0.008353432989679277,
+                        -0.015999165014363825
+                    ],
+                    "orientation": {
+                        "w": 0.045148358774880396,
+                        "xyz": [
+                            -0.6762275126041506,
+                            -0.001162468577256659,
+                            0.7353071640912695
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8865444660186768,
+                    "position": [
+                        0.14556375617394224,
+                        -0.03082673402968794,
+                        -0.009296491392888129
+                    ],
+                    "orientation": {
+                        "w": 0.08479730610464906,
+                        "xyz": [
+                            -0.6979736689920896,
+                            0.03336557119986061,
+                            0.7103019871361912
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7561615109443665,
+                    "position": [
+                        0.13471842283615842,
+                        -0.03036531584803015,
+                        -0.007796582416631281
+                    ],
+                    "orientation": {
+                        "w": 0.1968465114673216,
+                        "xyz": [
+                            -0.6810642261367672,
+                            0.15145210023202926,
+                            0.6888143669633925
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "ribbed side wall section",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the ribbed side area only for incidental stabilizing contact while another part is grasped",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "stiffen the side wall",
+                "reduce material usage through slotted openings",
+                "add surface texture",
+                "form part of the container wall"
+            ],
+            "semantic_description": "Vertical ribbed and slotted section molded into the red plastic side wall below the rim on the short sides of the bin, appearing as narrow repeated openings rather than a separate attachment.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Ribbed wall is segmented and usable for grasp; marked non-graspable with weak scenario."
+    }
+}

dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46894fb3c64bcedd6cd1c62e438704366fa3fc33e3de0857c0de2d8311e91e9
+size 3784284

dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/storage_bin_004.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>