Add asset bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6

.gitattributes

@@ -5956,3 +5956,4 @@ dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/affordance/mes
 dataset/bedroom_supplies/storage/09be02bd69765f71ab2762ce3d8df6ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0aa06ee6f4345435a9701fb8080158a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/affordance/affordance_annot.json

@@ -0,0 +1,316 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up or reposition the basket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "clamp the lower body to stabilize the basket during loading",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "support side ventilation",
+                "provide general grasp surface"
+            ],
+            "semantic_description": "Large light-gray plastic basket body with a matte hard surface, smooth rounded base, open slotted sidewalls, and a rectangular tub shape forming most of the object.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.9001035094261169,
+                    "position": [
+                        0.11873968329746276,
+                        0.03985691431444138,
+                        0.18862861953675747
+                    ],
+                    "orientation": {
+                        "w": 0.04633122085374795,
+                        "xyz": [
+                            -0.0040114078668328,
+                            -0.9856386792677944,
+                            0.16233829034569966
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.877864420413971,
+                    "position": [
+                        0.10522592451889068,
+                        0.017892198520712554,
+                        0.19074579142034054
+                    ],
+                    "orientation": {
+                        "w": 0.033837369165458916,
+                        "xyz": [
+                            0.047250630320132964,
+                            0.9942602766364222,
+                            -0.0898271266665877
+                        ]
+                    }
+                },
+                "grasp_64": {
+                    "confidence": 0.8675816655158997,
+                    "position": [
+                        0.11450447526294738,
+                        -0.01213957101572305,
+                        0.194681441411376
+                    ],
+                    "orientation": {
+                        "w": 0.08350443183728017,
+                        "xyz": [
+                            -0.9962174437834687,
+                            -0.024028177631232453,
+                            -0.0006791500471206376
+                        ]
+                    }
+                },
+                "grasp_67": {
+                    "confidence": 0.84952712059021,
+                    "position": [
+                        0.11381465580780059,
+                        -0.028869839501567185,
+                        0.19287008605897427
+                    ],
+                    "orientation": {
+                        "w": 0.048679013763147566,
+                        "xyz": [
+                            0.029299818539776604,
+                            -0.99793835587843,
+                            0.029848151018779488
+                        ]
+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.8322740197181702,
+                    "position": [
+                        0.12317546841222793,
+                        -0.05244820949155837,
+                        0.18862666748464108
+                    ],
+                    "orientation": {
+                        "w": 0.1698335957592307,
+                        "xyz": [
+                            -0.9841474634132765,
+                            -0.0028698048722349545,
+                            0.05101062858561126
+                        ]
+                    }
+                },
+                "grasp_76": {
+                    "confidence": 0.7823108434677124,
+                    "position": [
+                        0.116453688708134,
+                        -0.052856847760267556,
+                        0.19054358266294003
+                    ],
+                    "orientation": {
+                        "w": 0.06299346390162955,
+                        "xyz": [
+                            0.05074140338848114,
+                            -0.9920892919673067,
+                            -0.0959998450605491
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim edge to lift the empty basket",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the rim to steady the basket while placing contents inside",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide an edge grip",
+                "define the basket opening",
+                "stabilize the upper structure"
+            ],
+            "semantic_description": "Thick light-gray plastic rim with a matte smooth finish, rounded rectangular loop shape, running around the basket opening as a sturdy upper border.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to pull or lift the basket from one end",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "use both side handles to carry the basket",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a lifting grip",
+                "enable end carrying",
+                "assist pulling",
+                "aid basket orientation"
+            ],
+            "semantic_description": "Small light-gray plastic loop handle with a matte smooth surface, mounted at one short side near the rim and sized for secure gripping.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to pull or lift the basket from the opposite end",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "use both side handles to carry the basket",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide a lifting grip",
+                "enable end carrying",
+                "assist pulling",
+                "aid basket orientation"
+            ],
+            "semantic_description": "Small light-gray plastic loop handle with a matte smooth surface, mounted at the opposite short side near the rim and sized for secure gripping.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle reinforcing band",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the reinforcing band area to help reposition the basket",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "hold the band area to stabilize the basket during handling",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "stiffen the sidewalls",
+                "reinforce the basket body",
+                "help maintain shape",
+                "provide secondary support edge"
+            ],
+            "semantic_description": "Narrow light-gray plastic horizontal band with a matte smooth finish, wrapping around the upper-middle exterior as a structural brace across the slotted sides.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.230571910738945,
+                    "position": [
+                        -0.004717128234915435,
+                        -0.2974771858425811,
+                        0.026301762089133263
+                    ],
+                    "orientation": {
+                        "w": 0.737157495992834,
+                        "xyz": [
+                            -0.6457718659000852,
+                            -0.04853640556425365,
+                            0.1929293669932057
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.16564911603927612,
+                    "position": [
+                        0.15532874700147659,
+                        -0.19643932592589408,
+                        -0.00708173937164247
+                    ],
+                    "orientation": {
+                        "w": 0.7579320074487064,
+                        "xyz": [
+                            -0.36851584467012655,
+                            -0.3782020260328629,
+                            0.38301223455194633
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.15640515089035034,
+                    "position": [
+                        0.15972432133276016,
+                        -0.19186829042155296,
+                        0.012973388656973839
+                    ],
+                    "orientation": {
+                        "w": 0.7446509000786441,
+                        "xyz": [
+                            -0.4078271685967633,
+                            -0.4153444348257488,
+                            0.3265900151959517
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sidewall vertical slat",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the slotted wall structure",
+                "allow airflow and visibility",
+                "help retain contents while reducing material use"
+            ],
+            "semantic_description": "Small light-gray plastic vertical slat with a matte finish, located on the basket sidewall below the rim as part of the vented grid.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sidewall vertical slat",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the slotted wall structure",
+                "allow airflow and visibility",
+                "help retain contents while reducing material use"
+            ],
+            "semantic_description": "Small light-gray plastic vertical slat with a matte finish, located on the basket sidewall below the rim as part of the vented grid.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sidewall vertical slat",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the slotted wall structure",
+                "allow airflow and visibility",
+                "help retain contents while reducing material use"
+            ],
+            "semantic_description": "Small light-gray plastic vertical slat with a matte finish, located on the basket sidewall below the rim as part of the vented grid.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle identities are swapped with mask colors; blue band is side rail, not middle band; slat descriptions are underspecified."
+    }
+}

dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1125756