Add asset bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d

.gitattributes

@@ -6051,3 +6051,4 @@ dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mes
 dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d/affordance/affordance_annot.json

@@ -0,0 +1,75 @@
+{
+    "affordances": [
+        {
+            "part_name": "box body and outer lid surfaces",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls of the box body to lift and move the box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch opposite outer walls to stabilize the box while placing it down",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the outer lid edge or body rim while opening or closing the box",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main structure",
+                "form the outer lid surfaces",
+                "provide main grasp surface",
+                "support placement on a surface"
+            ],
+            "semantic_description": "Main rectangular wooden box including the outer body walls, base, and outer faces of the hinged lid; light to medium brown weathered wood with a mostly matte worn finish, visible wood grain, dark stains, and slightly rough hard surfaces.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior back wall panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form interior wall",
+                "retain contents",
+                "provide inner contact surface"
+            ],
+            "semantic_description": "Rectangular interior back-wall panel just below the hinge line inside the box, brown wood with a matte finish, smooth-to-slightly rough texture, and a flat inset appearance.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end side panel",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the short end wall from the outside to help lift or reposition the box",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the end panel to steady the box during opening or placement",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form outer wall",
+                "help retain contents",
+                "provide structural support",
+                "provide secondary grasp area"
+            ],
+            "semantic_description": "Short rectangular exterior end wall of the wooden box, light brown weathered wood with a matte worn finish, visible grain, and a flat vertical board-like shape at one end.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red part merges body and lid as one part; part identity and functions are too broad for the shown segmentation."
+    }
+}

dataset/bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd2d4af5dfb10c8af63d55d4283ef9118149fbe2bde055f03df9bb231abf3f61
+size 815388

dataset/bedroom_supplies/storage/d213a2ef0295527084273d3c38aa4c6d/d213a2ef0295527084273d3c38aa4c6d.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>