Add asset bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde

.gitattributes

@@ -8109,4 +8109,4 @@ dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/affordance/mes
 dataset/bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b7164a9cab9b559483e3772ae813fc24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde/affordance/affordance_annot.json

@@ -0,0 +1,200 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid panel near an edge to lift or remove the lid",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the lid panel while aligning it during closing",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect contents",
+                "provide a top surface"
+            ],
+            "semantic_description": "Large flat translucent light gray plastic lid panel with a smooth matte surface and rounded rectangular shape forming the top cover.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid rim",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the raised lid rim to lift or remove the lid",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "grasp the rim to align and seat the lid onto the box",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a grip edge",
+                "stiffen the lid",
+                "align the lid with the box",
+                "overlap the opening"
+            ],
+            "semantic_description": "Raised translucent light gray plastic rim with a smooth matte finish running around the lid perimeter as a thicker rounded border.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box frame",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side frame to lift or carry the box when lightly loaded",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold a corner frame section to stabilize the box while removing the lid",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the container body",
+                "reinforce edges",
+                "provide side grasp areas",
+                "protect corners"
+            ],
+            "semantic_description": "Rigid translucent light gray plastic frame outlining the side edges and upper perimeter of the box body, with a smooth semi-gloss hard surface.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to pick up the empty or lightly loaded box",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a side wall to steady the box during lid removal",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the container sides",
+                "provide visibility into contents"
+            ],
+            "semantic_description": "Large translucent light gray plastic wall panel with a smooth hard surface, slightly tapered rectangular shape, and visible vertical ribbing on the front side.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_71": {
+                    "confidence": 0.18803401291370392,
+                    "position": [
+                        -0.2027674252167344,
+                        0.1424260197672993,
+                        -0.09279951080679893
+                    ],
+                    "orientation": {
+                        "w": 0.7571966545769534,
+                        "xyz": [
+                            -0.02376981149383901,
+                            0.6516956558711989,
+                            -0.03716173405030862
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edges while turning or repositioning the box",
+                    "confidence": 0.54
+                },
+                {
+                    "scenario": "support the box from underneath during lifting",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "support stored contents",
+                "form the bottom of the box",
+                "mount the casters",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Flat underside base panel in slightly darker gray plastic with a smooth matte finish, broad rectangular shape, and wheel mounting areas at the corners.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a wheel to roll or reorient the empty box slightly during manipulation",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "roll the box",
+                "enable mobility",
+                "reduce sliding friction",
+                "support corner load"
+            ],
+            "semantic_description": "Small light-to-medium gray caster wheel assembly with smooth rounded wheels mounted at the bottom corners for rolling movement.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster mount cap",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover part of the caster attachment",
+                "help retain the wheel assembly",
+                "support wheel mounting"
+            ],
+            "semantic_description": "Small circular light green segmented cap or hub feature on the caster assembly near the wheel mount, with a smooth hard plastic appearance.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pull notch",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the front notch under the base frame to pull the box outward",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "use the notch as a purchase point to reposition the rolling box",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "help reposition the box",
+                "assist access from one side"
+            ],
+            "semantic_description": "Centered shallow notch in the lower front base frame, formed in light gray plastic with a smooth hard surface and rounded rectangular opening shape.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask color and part identity errors for caster mount cap; visual description uses mask color, not real object color."
+    }
+}

dataset/bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48ba10cb6b0f3f8e8bfc34911cbb61e1d4400a2194444452e080eed14f55d21
+size 3803884

dataset/bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde/storage_box_038.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>