Add asset bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba

.gitattributes

@@ -6006,3 +6006,4 @@ dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/mes
 dataset/bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3d501d25fa575432a09b39ef0fa16f56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/affordance_annot.json

@@ -0,0 +1,189 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall of the basket to pick it up when the handles are not used",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the basket body to stabilize it during loading or unloading",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "provide side support",
+                "stabilize contents"
+            ],
+            "semantic_description": "Large round light beige to light gray woven basket wall made of stiff wicker-like material with a matte finish, rough ridged texture, and open braided pattern forming the main side structure.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the empty basket",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the basket while placing items inside",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "reinforce opening",
+                "provide top grip",
+                "maintain basket shape",
+                "define opening boundary"
+            ],
+            "semantic_description": "Thick light beige to light gray braided top ring with a matte finish and coarse woven texture, encircling the basket opening as a raised structural rim.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle loop to lift and carry the basket",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to pull or reposition the basket",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "carry basket",
+                "provide overhead grip",
+                "pull to reposition",
+                "help hang or suspend"
+            ],
+            "semantic_description": "Medium-sized arched light beige to light gray wicker handle with a matte finish and rough braided texture, attached near the rim and projecting upward as a loop.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle loop to lift and carry the basket",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to pull or reposition the basket",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "carry basket",
+                "provide overhead grip",
+                "pull to reposition",
+                "help hang or suspend"
+            ],
+            "semantic_description": "Medium-sized arched light beige to light gray wicker handle with a matte finish and rough braided texture, attached opposite the other handle near the rim and projecting upward as a loop.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket base",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support or push up from the underside base to lift the basket from below",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the base to stabilize the basket while the other gripper uses a handle or rim",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support basket on surfaces",
+                "distribute load",
+                "close the bottom",
+                "stabilize contents from below"
+            ],
+            "semantic_description": "Flat circular darker beige-brown base panel made of woven wicker-like material with a matte finish, radial woven pattern, and broad underside contact area.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_72": {
+                    "confidence": 0.080223448574543,
+                    "position": [
+                        -0.035948077973444015,
+                        0.0016460681799799204,
+                        -0.2397453486919403
+                    ],
+                    "orientation": {
+                        "w": 0.8126520794904112,
+                        "xyz": [
+                            0.08475419448857664,
+                            -0.10112404665133856,
+                            0.567615408005597
+                        ]
+                    }
+                },
+                "grasp_78": {
+                    "confidence": 0.06028116121888161,
+                    "position": [
+                        0.07858158386079594,
+                        0.0143381308298558,
+                        -0.2358398586511612
+                    ],
+                    "orientation": {
+                        "w": 0.6964038231023195,
+                        "xyz": [
+                            -0.13383810862993628,
+                            -0.0779372444103772,
+                            0.7007387971138405
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle joint",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "attach handle to rim",
+                "transfer lifting load",
+                "reinforce connection"
+            ],
+            "semantic_description": "Small light beige woven connector at the handle attachment point, with a matte finish and tight braided texture linking each handle to the basket rim.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fastener of handle joint",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure handle attachment",
+                "reinforce joint",
+                "prevent handle loosening"
+            ],
+            "semantic_description": "Tiny light beige tie-like woven fastening piece with a matte finish and rough fibrous texture, wrapped around the handle joint near the rim.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91de1fdd50011d1ec57bb4f4a7e5eb07055feb40b740417bdd3e8e5ada352703
+size 1612664