Add asset bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f

.gitattributes

@@ -6078,4 +6078,4 @@ dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mes
 dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/affordance_annot.json

@@ -0,0 +1,147 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up and move the storage bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold opposite side faces to stabilize the bin during placement",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch the upper body near the rim when the bin is empty or lightly loaded",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the base and sidewalls",
+                "provide grasp surfaces for lifting",
+                "enclose contents"
+            ],
+            "semantic_description": "Large tapered white plastic bin body with a smooth semi-gloss hard surface, pink polka-dot pattern and Hello Kitty graphics on the sides, forming the main container walls and base.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9032735824584961,
+                    "position": [
+                        -0.06310052279150113,
+                        0.01445683030760847,
+                        0.1417618283885531
+                    ],
+                    "orientation": {
+                        "w": 0.015755794576169258,
+                        "xyz": [
+                            0.0007908913885565824,
+                            0.9991204720631325,
+                            -0.03885114840552579
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8711804747581482,
+                    "position": [
+                        -0.055554448103066534,
+                        0.02153134750551544,
+                        0.1418119707959704
+                    ],
+                    "orientation": {
+                        "w": 0.006839535180225579,
+                        "xyz": [
+                            0.0010804006884170985,
+                            0.9918727706555488,
+                            -0.1270451113776335
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8497103452682495,
+                    "position": [
+                        -0.01974549744045362,
+                        -0.05757694100611843,
+                        0.14633776637492701
+                    ],
+                    "orientation": {
+                        "w": 0.02912331647080283,
+                        "xyz": [
+                            -0.6999555713378365,
+                            0.7134312629543427,
+                            -0.015161254243534763
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8463733196258545,
+                    "position": [
+                        0.00967953127110377,
+                        0.05623081172234379,
+                        0.14266217144904658
+                    ],
+                    "orientation": {
+                        "w": 0.04756593424541269,
+                        "xyz": [
+                            0.7227392631335556,
+                            0.688515890797449,
+                            0.03648708735869816
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8425009250640869,
+                    "position": [
+                        -0.04465253878151998,
+                        -0.0595834270643536,
+                        0.14445776137290522
+                    ],
+                    "orientation": {
+                        "w": 0.018001497042849788,
+                        "xyz": [
+                            -0.7171775857238104,
+                            0.6965479495816733,
+                            -0.012377825865198562
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the reinforced rim to lift or reposition the empty bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the rim to pull the bin from a shelf or stack",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grip the rim to tilt and pour out contents",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide a primary grip edge",
+                "define the top opening",
+                "help pull the bin",
+                "support tilting during emptying"
+            ],
+            "semantic_description": "Thick red plastic rim around the top opening with a rounded semi-gloss hard smooth edge, running continuously along the bin lip as a narrow reinforced border.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e0cd62c41d2252e57f2ceefd8ec07d54bff8e1052aa943c69534f71ef4a385
+size 3780040