Add asset bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7

.gitattributes

@@ -8094,3 +8094,4 @@ dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/affordance/mes
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/9d3cdaa1c3c35891be06a182627700d7.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>

dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/affordance_annot.json

@@ -0,0 +1,61 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket rim and upper sidewall to lift and carry the basket",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "clamp opposing outer sidewalls to reposition or rotate the basket on a surface",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the lower outer body to stabilize the basket while placing or removing items",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "support stored contents",
+                "provide main structure",
+                "rest on a surface",
+                "offer exterior grasp surfaces"
+            ],
+            "semantic_description": "Large open rectangular brown wicker basket body made of woven natural fiber with a matte finish, visible braided texture, rounded corners, tapered sidewalls, and a thick upper rim.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner liner",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the liner near the top edge to straighten or reposition it inside the basket",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "lightly hold the liner edge aside while placing or removing small items",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "line the basket interior",
+                "protect contents from direct contact with wicker",
+                "provide a softer interior surface",
+                "decorate the basket interior"
+            ],
+            "semantic_description": "Red cloth liner covering most of the basket interior, including the inside walls and base area near the opening, with a soft matte fabric appearance, slight wrinkles, and folded edges near the rim and corners.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09a10dd89013d671d9afe4d780884b7f2c80f8fd56ffa8a914907dd4d05bf39
+size 4047072