Add asset bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d

.gitattributes

@@ -6081,3 +6081,4 @@ dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mes
 dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/affordance_annot.json

@@ -0,0 +1,115 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage box body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls of the box body to pick up or reposition the empty box",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the box body from opposite outer sides to stabilize it while loading or unloading items",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "support the box from the lower side edges during placement",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide compartment structure",
+                "support the handle mounts",
+                "stabilize contents",
+                "rest on a surface"
+            ],
+            "semantic_description": "Large off-white fabric-covered rectangular storage box body with a matte soft-textured surface, gray bound top rim, multiple internal divider compartments, and dark printed characters/markings on one outer side.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "carry handle",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the padded top section of the handle to lift and carry the storage box",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold one side of the handle to pull or reposition the box across a surface",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the handle to steady the box while placing or removing contents",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "lift the box",
+                "pull to reposition",
+                "connect to the box sides",
+                "provide a dedicated grip"
+            ],
+            "semantic_description": "Arched light gray handle with a padded cylindrical grip sleeve and slender curved supports attached at both side walls, likely fabric over flexible wire or rod, with a matte finish and soft textured grip spanning the box top.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8585381507873535,
+                    "position": [
+                        -0.016012597363442183,
+                        -0.24076088052242994,
+                        0.17691163811832666
+                    ],
+                    "orientation": {
+                        "w": 0.4285588867747011,
+                        "xyz": [
+                            -0.5343371595831419,
+                            -0.5014235410385866,
+                            -0.5285787670228284
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8263543248176575,
+                    "position": [
+                        -0.08889028942212462,
+                        0.128218119032681,
+                        0.2209217855706811
+                    ],
+                    "orientation": {
+                        "w": 0.20670999432756187,
+                        "xyz": [
+                            0.772137551055412,
+                            -0.08593651770532651,
+                            0.5947179965495684
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.8039331436157227,
+                    "position": [
+                        -0.09307010984048247,
+                        0.10416082013398409,
+                        0.21785082016140223
+                    ],
+                    "orientation": {
+                        "w": 0.2162534402280279,
+                        "xyz": [
+                            0.7464398405155995,
+                            -0.14117142157656548,
+                            0.6132965382346787
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf2eb52600dcc89429f8b63b5ae28868edbcb48e6e8808aeedc2577075e8d71
+size 3788652

dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>