Add asset bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194

.gitattributes

@@ -6010,4 +6010,5 @@ dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/mes
 dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/41c958049fb8570c83387e38059c41a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage bin body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to lift and move the storage bin",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch the top rim from opposite sides to pick up the empty bin",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while placing items into compartments",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "separate contents into compartments",
+                "support and enclose objects",
+                "provide main grasp surface",
+                "support stacking or placement on a surface"
+            ],
+            "semantic_description": "Light natural wood bin body with a matte smooth hard surface and subtle wood grain, forming a medium-sized square open-top box with four internal compartments and visible finger-jointed corners.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9405680894851685,
+                    "position": [
+                        -0.12695380998775363,
+                        -0.09866933547891676,
+                        -0.007902399927843362
+                    ],
+                    "orientation": {
+                        "w": 0.6798859327565003,
+                        "xyz": [
+                            -0.170232889997648,
+                            0.6839447065731173,
+                            0.20247350432460226
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9359425902366638,
+                    "position": [
+                        -0.14731715572997928,
+                        -0.03784976922906935,
+                        -0.01400155044393614
+                    ],
+                    "orientation": {
+                        "w": 0.02149280950959242,
+                        "xyz": [
+                            -0.6916035291036826,
+                            0.025262263640231764,
+                            -0.7215153745461612
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9338743686676025,
+                    "position": [
+                        -0.14583323849365115,
+                        -0.035795327508822083,
+                        -0.007748922624159604
+                    ],
+                    "orientation": {
+                        "w": 0.0035202866007471127,
+                        "xyz": [
+                            -0.7070382463836572,
+                            0.0006740755670163745,
+                            -0.7071662261131402
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9334414005279541,
+                    "position": [
+                        -0.12287908745929599,
+                        -0.09627734147943556,
+                        -0.01316889125155285
+                    ],
+                    "orientation": {
+                        "w": 0.7012329370911136,
+                        "xyz": [
+                            -0.16158610962606967,
+                            0.6625798494608143,
+                            0.20772635895082564
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43de971d862b1b8ac46f405dbb5f05a9142691447e3e82596a1d811c576b8c21
+size 3777012

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.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>