Add asset bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759

.gitattributes

@@ -6073,4 +6073,5 @@ dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mes
 dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ed7575c47304597cb04abe5e141f25f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/affordance_annot.json

@@ -0,0 +1,121 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim handle strip",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the blue rim section on one side to pull or slide the box a short distance",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the blue rim area to stabilize the box while placing or removing the lid",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "pinch the blue side handle opening for a brief one-handed repositioning of the empty or light box",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "provide side handhold",
+                "reinforce and protect the upper rim",
+                "assist handling and repositioning",
+                "support lid seating around the edge"
+            ],
+            "semantic_description": "Blue plastic rim piece with a smooth satin finish running around the upper edge, including thicker handle-like sections on the short sides with a rectangular hand opening.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to lift the lid off the storage box",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the lid while aligning it onto the box during closing",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect contents",
+                "provide top closure",
+                "offer a flat top surface for light stacking"
+            ],
+            "semantic_description": "Light translucent white plastic lid with a smooth slightly frosted finish, broad flat rectangular shape with rounded corners, covering the top and appearing hard and rigid.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box body from opposite sides to lift the storage box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while removing or replacing the lid",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the lower body to slide or reposition the box",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid",
+                "provide structural enclosure",
+                "rest on surfaces"
+            ],
+            "semantic_description": "Translucent white plastic container body with a matte frosted look and hard smooth surface, forming the large tapered rectangular bin below the lid, with molded feet and a printed side label.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_50": {
+                    "confidence": 0.8440051078796387,
+                    "position": [
+                        -0.2579523691238137,
+                        0.09130043303593993,
+                        -0.13589907996356487
+                    ],
+                    "orientation": {
+                        "w": 0.7178330580253348,
+                        "xyz": [
+                            0.09340542771412123,
+                            0.6793604754226986,
+                            -0.12025169983407197
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.8403290510177612,
+                    "position": [
+                        -0.2676491507590981,
+                        0.032394503708928823,
+                        -0.1308851446956396
+                    ],
+                    "orientation": {
+                        "w": 0.7150858528461643,
+                        "xyz": [
+                            -0.017124341918204205,
+                            0.6987699253392706,
+                            -0.008920281077031767
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3436e375b523a1b7ef2d7fb44a29f919d898a759a2b895d66129fd821d43f4
+size 3781872

dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/storage_box_014.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>