Add asset bedroom_supplies/storage/7ac28edb8a565d2fae7abe5161901d52

.gitattributes

@@ -8064,3 +8064,4 @@ dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/affordance/mes
 dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/7ac28edb8a565d2fae7abe5161901d52/affordance/affordance_annot.json

@@ -0,0 +1,285 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a handle to pull or reposition the basket",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp a handle to stabilize the basket while loading",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the basket",
+                "pull or reposition the basket",
+                "stabilize during loading"
+            ],
+            "semantic_description": "Upright orange-brown rigid rectangular loop handle with a matte plastic finish, attached near the top rim on one side of the basket.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a handle to pull or reposition the basket",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp a handle to stabilize the basket while loading",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the basket",
+                "pull or reposition the basket",
+                "stabilize during loading"
+            ],
+            "semantic_description": "Upright orange-brown rigid rectangular loop handle with a matte plastic finish, attached near the top rim on the opposite side of the basket.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the empty or lightly loaded basket",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the basket body to stabilize it on a surface",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp opposite side walls for two-point manipulation",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main storage cavity",
+                "provide side support",
+                "protect contents"
+            ],
+            "semantic_description": "Large orange-brown tapered basket body with a matte woven-look plastic texture, rounded corners, and an open top forming the main container.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_65": {
+                    "confidence": 0.6946427226066589,
+                    "position": [
+                        0.24934797687456012,
+                        -0.12924033915624022,
+                        0.07426948845386505
+                    ],
+                    "orientation": {
+                        "w": 0.4591030510045231,
+                        "xyz": [
+                            0.5402425121659098,
+                            -0.47583109433235504,
+                            -0.5205258747396504
+                        ]
+                    }
+                },
+                "grasp_79": {
+                    "confidence": 0.6300551295280457,
+                    "position": [
+                        0.17831394774839282,
+                        0.23362272465601563,
+                        0.0502728596329689
+                    ],
+                    "orientation": {
+                        "w": 0.08899256295205148,
+                        "xyz": [
+                            -0.06500161900211593,
+                            -0.6838167995837485,
+                            0.721283368637714
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to steady or slide the basket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch the rim to lift an empty basket briefly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the rim while placing items inside",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "define the basket opening",
+                "support handle attachments",
+                "provide edge stiffness"
+            ],
+            "semantic_description": "Thick orange-brown band around the basket opening with a matte hard plastic surface and rounded profile, slightly smoother than the side walls.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom panel from underneath to support the basket during lifting",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the base to turn the basket over or reorient it",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "support the basket from below while another gripper steadies the side",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide a resting surface",
+                "distribute load",
+                "stabilize the basket on flat surfaces"
+            ],
+            "semantic_description": "Flat orange-brown bottom panel with a matte plastic finish and perforated or woven-like texture, spanning the underside of the basket.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_56": {
+                    "confidence": 0.4197349548339844,
+                    "position": [
+                        0.05098384199663997,
+                        0.23109405720606446,
+                        -0.15554280579090118
+                    ],
+                    "orientation": {
+                        "w": 0.4981005899991145,
+                        "xyz": [
+                            0.5028145528453905,
+                            0.47070112929119323,
+                            -0.5267957617268949
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.4183010756969452,
+                    "position": [
+                        -0.23644185857847333,
+                        0.008760023396462202,
+                        -0.18098075687885284
+                    ],
+                    "orientation": {
+                        "w": 0.770978770031664,
+                        "xyz": [
+                            0.004950126163763519,
+                            0.6362344048065449,
+                            0.02780313924517363
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.4046132266521454,
+                    "position": [
+                        -0.23577187256887555,
+                        -0.017499747220426798,
+                        -0.17399528622627258
+                    ],
+                    "orientation": {
+                        "w": 0.7413660191241818,
+                        "xyz": [
+                            -0.07011533756754162,
+                            0.6662706750503209,
+                            0.039289345804456616
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle side brace",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the handle support to the rim",
+                "reinforce the handle mounting area",
+                "transfer lifting load into the rim"
+            ],
+            "semantic_description": "Small orange-brown narrow support piece beside the handle near the top rim, with a matte plastic finish and elongated curved shape integrated into the handle mount.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom rim / feet strip",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower edge from underneath to help reorient the basket",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "pinch the bottom rim while stabilizing the basket during placement",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "protect the lower perimeter",
+                "reinforce the base edge",
+                "provide contact points with the ground",
+                "reduce wear on the bottom edge"
+            ],
+            "semantic_description": "Narrow orange-brown strip around the lower perimeter of the basket underside, with a matte slightly smoother surface forming the bottom edge or contact border.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_103": {
+                    "confidence": 0.1939295083284378,
+                    "position": [
+                        -0.10849217372015119,
+                        -0.24406999861821532,
+                        -0.16951197385787964
+                    ],
+                    "orientation": {
+                        "w": 0.4867142823211833,
+                        "xyz": [
+                            -0.4473768398369421,
+                            0.4761887803259153,
+                            0.5798339555888424
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle brace part/color mismatch and base/body grasp labels are overstated for this basket segmentation."
+    }
+}

dataset/bedroom_supplies/storage/7ac28edb8a565d2fae7abe5161901d52/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e8042e3768d221b9a98d1c929b5d40e852a437711903148c32a17aadc0e912
+size 3229852