Add asset bedroom_supplies/storage/dd7216a0412d5ba586118382c5db2493

.gitattributes

@@ -6058,3 +6058,4 @@ dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mes
 dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d8cbe14aefb6527591688ff9df905f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/dd7216a0412d5ba586118382c5db2493/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/dd7216a0412d5ba586118382c5db2493/affordance/affordance_annot.json

@@ -0,0 +1,135 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to lift or carry the empty bin",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while another tool interacts with the rim",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "pinch the lower side of the body to reposition the bin on a surface",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support the rim",
+                "provide side grasp surface",
+                "rest on the floor"
+            ],
+            "semantic_description": "Large tapered pinkish-red plastic tub body with a smooth matte to semi-gloss surface, broad rectangular walls, and a deep open cavity forming most of the bin.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper inner lip",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the inner top lip to lift or tilt the bin",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the lip to stabilize the bin during dumping",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the top opening",
+                "support top-edge handling",
+                "guide contents during dumping"
+            ],
+            "semantic_description": "Continuous pinkish-red plastic inner rim with a smooth hard finish, running around the opening as a narrow raised lip just inside the top edge.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer rim flange",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the protruding rim flange to lift the bin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the rim while pulling or sliding the bin",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the rim to tip the bin for pouring out contents",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide main handhold",
+                "reinforce the top edge",
+                "protect the opening edge",
+                "aid tipping and carrying"
+            ],
+            "semantic_description": "Wide pinkish-red plastic flange around the top perimeter with a smooth slightly glossy hard surface, projecting outward as the most prominent edge feature.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side clip tab",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small side tab to help pull or reorient the bin",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "use the tab as a minor side contact point for stabilization",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "provide a small auxiliary grip point",
+                "form a molded side tab below the rim",
+                "assist side manipulation"
+            ],
+            "semantic_description": "Small blue rectangular plastic clip-like tab mounted just below the upper rim on one side, with a short looped protruding shape and smooth surface.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side clip tab",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small side tab to help pull or reorient the bin",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "use the tab as a minor side contact point for stabilization",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "provide a small auxiliary grip point",
+                "form a molded side tab below the rim",
+                "assist side manipulation"
+            ],
+            "semantic_description": "Small purple rectangular plastic clip-like tab mounted just below the upper rim on the opposite side, with a short looped protruding shape and smooth surface.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Body color/material description and side tab identity/function are inaccurate; tabs are latch/handle loops, not blue/purple clip tabs."
+    }
+}

dataset/bedroom_supplies/storage/dd7216a0412d5ba586118382c5db2493/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:282b90ecadd6f7a3c31544ea3579c94c2727034605bc44284cfe1458647ce199
+size 2014944

dataset/bedroom_supplies/storage/dd7216a0412d5ba586118382c5db2493/dd7216a0412d5ba586118382c5db2493.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>