Add asset bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f

.gitattributes

@@ -8073,3 +8073,4 @@ dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/affordance/mes
 dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/826e229f2fe452be956428d34de7406e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/affordance/affordance_annot.json

@@ -0,0 +1,182 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift or reposition the lightweight empty bin",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the bin while another tool interacts with the interior",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the top edge",
+                "support lifting at the top",
+                "protect the opening edge"
+            ],
+            "semantic_description": "Rounded off-white plastic rim with a matte smooth hard surface, running around the rectangular top opening as a raised border.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.07016205042600632,
+                    "position": [
+                        0.14211777938180603,
+                        0.025819865870289505,
+                        0.018206924956757575
+                    ],
+                    "orientation": {
+                        "w": 0.624052376743189,
+                        "xyz": [
+                            -0.3416630924625826,
+                            -0.592588841622912,
+                            0.37770812423628936
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up or carry the bin",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin during loading or unloading",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support the base and side walls",
+                "enclose contents"
+            ],
+            "semantic_description": "Large off-white plastic tub body with matte smooth hard surfaces, rounded rectangular shape, slightly tapered walls, and a plain exterior forming most of the container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9329558610916138,
+                    "position": [
+                        0.1000828031974379,
+                        -0.03045497660059482,
+                        0.09925216325791553
+                    ],
+                    "orientation": {
+                        "w": 0.2603361538741195,
+                        "xyz": [
+                            -0.051467857684283226,
+                            -0.9637789594925994,
+                            -0.026575625124973933
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9102795124053955,
+                    "position": [
+                        0.10039434177451767,
+                        -0.016504597035236657,
+                        0.09822685905965045
+                    ],
+                    "orientation": {
+                        "w": 0.24316580103492247,
+                        "xyz": [
+                            -0.05722547098124545,
+                            -0.9674324925605603,
+                            0.040865768267344116
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9092533588409424,
+                    "position": [
+                        -0.01895898798829876,
+                        -0.1270588767947629,
+                        -0.0013511953293345869
+                    ],
+                    "orientation": {
+                        "w": 0.5182957497628264,
+                        "xyz": [
+                            -0.5041974731761082,
+                            -0.5082377721781829,
+                            -0.467812773181724
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8826198577880859,
+                    "position": [
+                        0.0020970776968169957,
+                        -0.1270582062425092,
+                        -0.000246988027356565
+                    ],
+                    "orientation": {
+                        "w": 0.5210550266201436,
+                        "xyz": [
+                            -0.5056871667966302,
+                            -0.5118030329941301,
+                            -0.45917295650886053
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8727741837501526,
+                    "position": [
+                        0.08320208979421295,
+                        -0.054914774489589036,
+                        0.1003082309034653
+                    ],
+                    "orientation": {
+                        "w": 0.24737017853897725,
+                        "xyz": [
+                            -0.2829994626329379,
+                            -0.9262820042727167,
+                            -0.026850465165104136
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side handle surrounds and top grip tabs",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper tips into the oval side handle opening to lift the bin",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hook or pinch a side handle opening to pull the bin from a shelf",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the rounded top grip tab as a light stabilizing contact point rather than a primary grasp",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "provide carrying grip through side openings",
+                "enable pulling from the side",
+                "offer localized hand contact near the rim",
+                "aid orientation during transport"
+            ],
+            "semantic_description": "Tan to light-brown plastic accent pieces with smooth matte surfaces, including oval surrounds around the side handle openings and rounded semicircular grip tabs projecting above the rim on the short sides.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part description mismatches visible object; top tabs are white, not tan accents, and grouped part naming is inaccurate."
+    }
+}

dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cdc1f8466edc9eb5f852117d0e82a8696851d27f8b6551db9f0bdfa51c77fcf
+size 3783736

dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.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>