Add asset bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216

.gitattributes

@@ -6003,4 +6003,4 @@ dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/affordance/mes
 dataset/bedroom_supplies/storage/3518c1e4a3f655289054421b49f2bcf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/37c9d23189f158829550ccf95c9d207c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216/affordance/affordance_annot.json

@@ -0,0 +1,147 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim or side wall to pick up and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the side wall to stabilize the basket during loading or unloading",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the integrated hand-hole area to pull or reposition the basket",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main carrying structure",
+                "support side gripping",
+                "define basket opening",
+                "allow ventilation through slots"
+            ],
+            "semantic_description": "Large light-blue plastic basket body with a matte to slightly satin finish, hard smooth surface, rectangular open-top shape, slotted ventilated walls, rounded rim, and an integrated hand-hole near one short side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_33": {
+                    "confidence": 0.9385808706283569,
+                    "position": [
+                        0.1177564124809578,
+                        -0.0003176471436745487,
+                        0.10590730840340257
+                    ],
+                    "orientation": {
+                        "w": 0.11386696734480098,
+                        "xyz": [
+                            -0.9560311158025996,
+                            -0.00391562096376763,
+                            0.2702285833834067
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9350191950798035,
+                    "position": [
+                        0.06321113661397249,
+                        -0.01361468672985211,
+                        0.128821084741503
+                    ],
+                    "orientation": {
+                        "w": 0.000278516599881041,
+                        "xyz": [
+                            0.9998227671006761,
+                            -0.017087545797240186,
+                            0.007897632194412299
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside base to lift the basket from below",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "support the base while another gripper steadies the rim",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "push or slide against the base to reposition the basket on a surface",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide flat resting surface",
+                "distribute load",
+                "stabilize the basket on a table or shelf"
+            ],
+            "semantic_description": "Flat rectangular light-blue plastic bottom panel with a matte smooth hard surface, broad and slightly recessed under the basket, forming the main support surface underneath.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.06248139217495918,
+                    "position": [
+                        0.09543587372172624,
+                        0.027257670124527067,
+                        -0.07670236146077514
+                    ],
+                    "orientation": {
+                        "w": 0.6322713149708461,
+                        "xyz": [
+                            0.2821487840852357,
+                            -0.36359189970233496,
+                            -0.6232382998300946
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8484535813331604,
+                    "position": [
+                        -0.08360836550127715,
+                        0.11723886284744367,
+                        0.005657690242514946
+                    ],
+                    "orientation": {
+                        "w": 0.5587412784070993,
+                        "xyz": [
+                            0.42363497320525584,
+                            0.5730983671184516,
+                            -0.4241460301447454
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8463743925094604,
+                    "position": [
+                        -0.034739586408250034,
+                        0.12515870336210355,
+                        0.0012643416412174702
+                    ],
+                    "orientation": {
+                        "w": 0.47445835321376917,
+                        "xyz": [
+                            0.5034966797815733,
+                            0.4987481311274842,
+                            -0.5221404659777404
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/3c37b5edfe26592d81315d5aa75c5216/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f987b70193999a6bf8735a8e382f2dc7f07db473c15b5d1130c90879ad6b391
+size 3778772