Add asset bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388

.gitattributes

@@ -8075,3 +8075,4 @@ dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/affordance/mes
 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/84f973a56f1c51bf863f643b5513b119/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.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/855d2342d4205a288c869c2cd5f1c388/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "box body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or carry the box",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch opposite outer faces to pick up the empty box",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the upper side wall and rim area together to stabilize the box during placement",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide structural enclosure",
+                "support stacking",
+                "provide main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Large light brown corrugated cardboard box body with a matte dull finish, slightly rough paper texture, tapered rectangular shape, open top, and dark printed symbols on some outer faces.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hand-hold slot / side handle openings",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the side hand-hold opening to lift the empty or lightly loaded box",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hook or pinch near the handle opening to pull or reposition the box across a surface",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "use the handle opening as a secondary stabilizing grasp point while another gripper supports the box body",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide carrying handle",
+                "aid lifting",
+                "aid repositioning",
+                "reduce slipping during manual handling"
+            ],
+            "semantic_description": "Cyan-masked features correspond to elongated handle cutouts/openings on the upper side panels of the light brown cardboard box, visible as narrow slot-like regions near the top edges on opposite sides.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_38": {
+                    "confidence": 0.44912973046302795,
+                    "position": [
+                        0.18136155977845192,
+                        -0.12252881890162826,
+                        -0.1652496885508299
+                    ],
+                    "orientation": {
+                        "w": 0.7650998113206877,
+                        "xyz": [
+                            -0.12795847808760696,
+                            -0.6182399454013562,
+                            -0.12660282979728418
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cyan part is not only handle openings; mask includes top rim/edge strips, so part identity and description mismatch."
+    }
+}

dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e392ecb534a2f0f9469d5805348be216d7a0f37b919880b803e40c94c5686ec
+size 1514788