Add asset bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6

.gitattributes

@@ -8066,3 +8066,4 @@ dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/mes
 dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7ac28edb8a565d2fae7abe5161901d52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/affordance/affordance_annot.json

@@ -0,0 +1,142 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket walls and rim",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up and carry the empty basket",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pinch the rim from opposite sides to reposition the basket",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the basket during loading or unloading",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the basket cavity",
+                "provide side support",
+                "provide a rim for handling",
+                "protect contents from falling out"
+            ],
+            "semantic_description": "Rectangular red fabric basket walls with a padded rounded rim, matte-to-soft sheen finish, soft smooth textile texture, stitched seams, and medium-height sides forming the outer container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9480500221252441,
+                    "position": [
+                        -0.15064788050949574,
+                        0.07426427665632218,
+                        0.018192762741819024
+                    ],
+                    "orientation": {
+                        "w": 0.6225841300212337,
+                        "xyz": [
+                            0.21985204302917785,
+                            0.7287822801809479,
+                            -0.18146754066735693
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8849130868911743,
+                    "position": [
+                        -0.0693656224757433,
+                        -0.12683003779966384,
+                        -0.006583586568012834
+                    ],
+                    "orientation": {
+                        "w": 0.4984904128113431,
+                        "xyz": [
+                            -0.49296063855808464,
+                            0.5167966129032043,
+                            0.4913434420640595
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8435953855514526,
+                    "position": [
+                        0.1582388263195753,
+                        -0.0034510778496041894,
+                        0.03617286146618426
+                    ],
+                    "orientation": {
+                        "w": 0.5601738846152496,
+                        "xyz": [
+                            -0.006304422601979081,
+                            -0.8283510432325233,
+                            -0.00014975415461542982
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8241677284240723,
+                    "position": [
+                        0.01927834562957287,
+                        -0.13859572645742446,
+                        0.02492117159999907
+                    ],
+                    "orientation": {
+                        "w": 0.433272630960359,
+                        "xyz": [
+                            -0.5668321005057471,
+                            0.5410908315888189,
+                            0.44519311435314474
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8014454245567322,
+                    "position": [
+                        -0.03010115772485733,
+                        0.09107827011030167,
+                        0.08995017246343195
+                    ],
+                    "orientation": {
+                        "w": 0.3656086174790063,
+                        "xyz": [
+                            0.6462336456406051,
+                            0.6696142290553698,
+                            0.01814382301846576
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket base panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the basket from underneath with an open palm or platform during lifting rather than gripping the panel itself",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "contact the bottom panel to slide or reposition the basket when tipped or inverted",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide a flat resting surface",
+                "stabilize basket shape",
+                "distribute load"
+            ],
+            "semantic_description": "Large flat red bottom panel made of the same soft fabric-like material, with a slightly mottled satin appearance, smooth padded texture, and stitched edges on the underside and interior floor.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba53738bac1008b74b618b8b64d0ed2cb5e2ab832911186cf910c795f762825
+size 3787236

dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/basket_022.urdf

@@ -57,6 +57,7 @@
                <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>
       <quality>
          <PartSegChecker>YES</PartSegChecker>