Add asset bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea

.gitattributes

@@ -5971,3 +5971,4 @@ dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mes
 dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/affordance/affordance_annot.json

@@ -0,0 +1,171 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket rim and sidewall to pick up or reposition the basket",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the sidewall to stabilize the basket while loading or unloading contents",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the basket cavity",
+                "provide side support",
+                "help define the opening"
+            ],
+            "semantic_description": "Large round brown wicker body with a matte natural wood finish, hard slightly rough woven texture, and a bowl-shaped form making up the sidewalls and interior of the basket.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_58": {
+                    "confidence": 0.9194568991661072,
+                    "position": [
+                        0.1428240624954924,
+                        0.06389764556661248,
+                        0.08774615079164505
+                    ],
+                    "orientation": {
+                        "w": 0.12565503344748527,
+                        "xyz": [
+                            0.07781759374248046,
+                            -0.9726481500975604,
+                            0.17919489609147585
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside base to lift the empty basket from below",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "support the base while stabilizing the basket during placement",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the basket on surfaces",
+                "provide a stable bottom",
+                "bear load from contents",
+                "close the container underside"
+            ],
+            "semantic_description": "Flat circular brown woven base with a matte finish, hard rough wicker texture, and a broad bottom surface at the underside of the basket.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_61": {
+                    "confidence": 0.11379649490118027,
+                    "position": [
+                        0.013618450961075723,
+                        -0.07336988439783454,
+                        -0.19749555736780167
+                    ],
+                    "orientation": {
+                        "w": 0.614908432106264,
+                        "xyz": [
+                            0.06665471170474468,
+                            -0.04174831576789717,
+                            -0.7846667111982754
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.10061962902545929,
+                    "position": [
+                        0.011787988594733179,
+                        0.14545620093122125,
+                        -0.16294162720441818
+                    ],
+                    "orientation": {
+                        "w": 0.8868507024490313,
+                        "xyz": [
+                            0.4090737945051672,
+                            -0.15886774311494756,
+                            -0.14462192922363776
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to pull or reposition the basket",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the basket",
+                "pull the basket",
+                "aid repositioning"
+            ],
+            "semantic_description": "Arched light-brown wicker handle with a matte finish, hard slightly rough texture, and a slender curved form attached across the basket opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to pull or reposition the basket",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the basket",
+                "pull the basket",
+                "aid repositioning"
+            ],
+            "semantic_description": "Arched light-brown wicker handle with a matte finish, hard slightly rough texture, and a slender curved form attached across the basket opening.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.6296926736831665,
+                    "position": [
+                        -0.0893745186040178,
+                        -0.10583392670378089,
+                        0.1229378804564476
+                    ],
+                    "orientation": {
+                        "w": 0.12149389860911557,
+                        "xyz": [
+                            0.8642370929932514,
+                            0.48042024172032394,
+                            0.08677482953436047
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83fa7cb78a52747a9eff7b0a84665f5daa50b86a46b9a398ffb63ff7fcc4c5c5
+size 1570304