Add asset bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae

.gitattributes

@@ -5979,3 +5979,4 @@ dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/affordance/mes
 dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/affordance/affordance_annot.json

@@ -0,0 +1,184 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the upper rim to lift or reposition the basket",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket while placing items inside",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "reinforce the opening",
+                "define the basket opening",
+                "support handling and repositioning"
+            ],
+            "semantic_description": "Thick circular upper rim made of woven natural fiber, alternating tan and muted green sections, with a matte finish, slightly rough fibrous texture, and a narrow band wrapping the basket opening.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.7560809850692749,
+                    "position": [
+                        0.11252629381488077,
+                        0.04996789910364896,
+                        0.07149076601490378
+                    ],
+                    "orientation": {
+                        "w": 0.3260027602300729,
+                        "xyz": [
+                            -0.7208166195247384,
+                            -0.4757489203004802,
+                            0.3844587964557835
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.743879497051239,
+                    "position": [
+                        0.12049869817565195,
+                        0.022995484177954495,
+                        0.07597044249996543
+                    ],
+                    "orientation": {
+                        "w": 0.35054467085402885,
+                        "xyz": [
+                            -0.7772231768607185,
+                            -0.4060234140331246,
+                            0.3289187655687326
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.7108094692230225,
+                    "position": [
+                        0.11625196409295313,
+                        0.023755221744067967,
+                        0.07185617228969932
+                    ],
+                    "orientation": {
+                        "w": 0.37591988980556296,
+                        "xyz": [
+                            -0.7384623557118959,
+                            -0.4505504107333951,
+                            0.3322076354224563
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7555887699127197,
+                    "position": [
+                        -0.11939751732279547,
+                        0.03170858242083341,
+                        0.0744438930414617
+                    ],
+                    "orientation": {
+                        "w": 0.26333289678451444,
+                        "xyz": [
+                            -0.1046099090569985,
+                            0.8772676684976578,
+                            -0.3874454673974734
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7076218128204346,
+                    "position": [
+                        -0.10710307586123236,
+                        0.0666340469615534,
+                        0.08848204603418708
+                    ],
+                    "orientation": {
+                        "w": 0.20621999828807958,
+                        "xyz": [
+                            -0.0012389687367046196,
+                            0.9132907953331112,
+                            -0.3512430788248319
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.16666767001152039,
+                    "position": [
+                        -0.06415834653307684,
+                        0.09637420170474797,
+                        0.07326843729242682
+                    ],
+                    "orientation": {
+                        "w": 0.48218600569716563,
+                        "xyz": [
+                            0.8722594938602053,
+                            -0.07468386078523837,
+                            0.03289912185396842
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8779003024101257,
+                    "position": [
+                        0.09131993722985499,
+                        0.07973658584523946,
+                        0.09795052697882056
+                    ],
+                    "orientation": {
+                        "w": 0.08128065441219137,
+                        "xyz": [
+                            -0.7812167618175611,
+                            -0.5313415921235022,
+                            0.31744281178390515
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior basin",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain items",
+                "form the inner storage cavity",
+                "support placed contents",
+                "define the open-top volume"
+            ],
+            "semantic_description": "Concave inner basin with woven plant-fiber walls and a flat light tan bottom, showing a matte finish, slightly rough fibrous texture, and a medium-sized bowl-like cavity inside the basket.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side wall and underside body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket body from the side to pick it up",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the outer wall to stabilize the basket during transport",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the outer structure",
+                "support the basket shape",
+                "provide a side grasp surface"
+            ],
+            "semantic_description": "Rounded basket body made of greenish and tan woven natural fibers, with a matte finish, slightly rough braided texture, and overlapping diagonal bands visible around the exterior and underside.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697938154e8262465ae38792d8d0768d0ad10203bca0d9e2575663d1a2aa399e
+size 3788464

dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.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>