Add asset bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d

.gitattributes

@@ -6021,3 +6021,4 @@ dataset/bedroom_supplies/storage/47038991dc0459c5bf14ee062c7d73fc/affordance/mes
 dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4c087b34c5d25bf1a02d106cd5040490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4c77224e5adb5c7e88fd8d96def0bb61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/4d9b2d1a21375d33828241d92da1618d.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/4d9b2d1a21375d33828241d92da1618d/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side wall to pick up or reposition the basket",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the side wall to stabilize the basket during placement or loading",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "provide side support",
+                "stabilize the basket upright"
+            ],
+            "semantic_description": "The basket body is a medium-sized tapered round shell made of amber-brown translucent plastic, with a glossy surface and vertical ribbed or fluted sides forming most of the exterior.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.072892926633358,
+                    "position": [
+                        -0.03917472413741052,
+                        0.14747499897202943,
+                        -0.19795084837824106
+                    ],
+                    "orientation": {
+                        "w": 0.6599064292544237,
+                        "xyz": [
+                            -0.032746565023741674,
+                            -0.10553840566874995,
+                            0.7431775104486954
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.06559641659259796,
+                    "position": [
+                        0.03300764434970915,
+                        0.1597373284312198,
+                        -0.19016326311975718
+                    ],
+                    "orientation": {
+                        "w": 0.7457439015430928,
+                        "xyz": [
+                            -0.0775223445018755,
+                            -0.16992123610415533,
+                            0.6395178597467426
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.056428659707307816,
+                    "position": [
+                        -0.16003542370162904,
+                        0.005509979455382563,
+                        -0.19134869519621134
+                    ],
+                    "orientation": {
+                        "w": 0.13102472973984294,
+                        "xyz": [
+                            -0.06027483766390644,
+                            0.21796787557732045,
+                            -0.9652406276973113
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift or reposition the basket",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch the rim to steady the basket while loading contents",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "reinforce the opening",
+                "define the basket opening",
+                "support handling during placement"
+            ],
+            "semantic_description": "The rim is a thick circular top edge in amber-brown translucent plastic with a glossy smooth finish, slightly rounded profile, and a continuous band around the basket opening.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold contents",
+                "provide an interior cavity",
+                "support placed items",
+                "define storage volume"
+            ],
+            "semantic_description": "The red region corresponds to the visible inner cavity of the basket, appearing dark amber to shadowed brown due to lighting, with a smooth glossy bowl-like interior surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket body area near rim",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "outer wall surface region",
+                "part of the basket body"
+            ],
+            "semantic_description": "The blue mask marks small scattered regions on the outer wall near the rim that appear to be the same amber-brown translucent plastic as the rest of the basket body, not a separate physical component.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part mislabeled as non-part region; it is rim/upper outer wall and can be grasped. Red interior also overstates as separate physical part."
+    }
+}

dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0669b4ded7eb18e9e7a01916b80737f279bf60428b310f78d2ecf1d8bec0eeec
+size 1038232