Add asset bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b

.gitattributes

@@ -6034,4 +6034,4 @@ dataset/bedroom_supplies/storage/567a100bf60053f298724da7f58cf6e8/affordance/mes
 dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/affordance/affordance_annot.json

@@ -0,0 +1,207 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up the empty or lightly loaded bin when handles are not used",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin during placement or while accessing contents",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "provide side support",
+                "protect contents"
+            ],
+            "semantic_description": "Large off-white plastic bin body with a smooth matte surface, rounded rectangular shape, open top, and a printed cartoon graphic on one outer side.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front carrying handle",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front loop handle to lift or carry the bin",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the bin forward by the front handle",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "pull the bin",
+                "help reposition the container"
+            ],
+            "semantic_description": "Loop-shaped off-white plastic handle with a smooth matte surface, medium thickness, mounted on the front side near the upper edge.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.7036834955215454,
+                    "position": [
+                        0.13985889457399026,
+                        0.0255305259488523,
+                        -0.02055383031256497
+                    ],
+                    "orientation": {
+                        "w": 0.11120310312773866,
+                        "xyz": [
+                            0.6438090364229855,
+                            0.1157423620628194,
+                            -0.7481627497403137
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side carrying handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side loop handle to lift or reposition the bin from the side",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "pull or rotate the bin using the side handle",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a side carrying grip",
+                "pull the bin",
+                "aid orientation during handling"
+            ],
+            "semantic_description": "Loop-shaped off-white plastic side handle with a smooth matte surface, medium size, attached near the upper rim.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle hinge mount",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "attach the handle",
+                "provide pivot support",
+                "transfer carrying load"
+            ],
+            "semantic_description": "Small off-white plastic hinge support near the upper rim with a smooth matte surface, integrated into the handle attachment area.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle hinge mount",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "attach the handle",
+                "provide pivot support",
+                "transfer carrying load"
+            ],
+            "semantic_description": "Small off-white plastic hinge support near the upper rim with a smooth matte surface, integrated into the handle attachment area.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle hinge mount",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "attach the handle",
+                "provide pivot support",
+                "transfer carrying load"
+            ],
+            "semantic_description": "Small off-white plastic hinge support near the upper rim beside a handle, with a smooth rounded molded shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim nub",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the molded rim",
+                "slightly reinforce the upper edge",
+                "provide a small molded exterior feature"
+            ],
+            "semantic_description": "Small off-white plastic nub on the upper outer wall near the rim, with a smooth matte surface and compact rounded shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim nub",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the molded rim",
+                "slightly reinforce the upper edge",
+                "provide a small molded exterior feature"
+            ],
+            "semantic_description": "Small off-white plastic nub on the upper outer wall near the rim, with a smooth matte surface and compact rounded shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative sticker",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the bin",
+                "provide visual identification",
+                "add character graphic"
+            ],
+            "semantic_description": "Small multicolored printed sticker on one side of the bin, flat and smooth, showing a cartoon-style food graphic and small text-like markings.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sticker detail",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "add graphic detail",
+                "provide visual contrast",
+                "form part of the printed decoration"
+            ],
+            "semantic_description": "Small light-colored printed area within the side graphic, flat and smooth, appearing as part of the decorative sticker artwork.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim tab",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the rim",
+                "support top-edge structure",
+                "form part of the molded upper edge"
+            ],
+            "semantic_description": "Small off-white plastic tab on the upper rim with a smooth matte surface and short raised shape integrated into the top edge.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle colors and part identities mismatch; side handle mislabeled as carrying handle instead of opposite/front handle."
+    }
+}

dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d67aa16cce3f8907a275ab421195af276ba940e507bf3f7020840cc62513197
+size 3782732

dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.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>NO: {"summary":"Decorative print is mislabeled as functional parts; main body and handles are fine.","merge_groups":[]}</PartSegChecker>