Add asset bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588

.gitattributes

@@ -8059,3 +8059,4 @@ dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/affordance/mes
 dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/77eba2a6528852efae99817aceece568/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the basket",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket while placing items inside",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "stiffen the opening",
+                "maintain basket shape",
+                "support carrying and repositioning"
+            ],
+            "semantic_description": "Thick rounded medium-brown wicker or rattan rim with a matte slightly satin finish, hard smooth outer surface, and an oval rectangular ring shape running around the top opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket wall",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to pick up the empty basket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the side wall to steady the basket during loading or unloading",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the basket sides",
+                "provide side support",
+                "define the interior volume"
+            ],
+            "semantic_description": "Large medium-brown woven wicker side panel with a matte finish, hard slightly rough ridged texture, and gently tapered rectangular shape covering most of the basket exterior and interior walls.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.3865199685096741,
+                    "position": [
+                        0.0043128939578309655,
+                        -0.16137008788064122,
+                        -0.20025116577744484
+                    ],
+                    "orientation": {
+                        "w": 0.6610574881522934,
+                        "xyz": [
+                            -0.010955886558662645,
+                            -0.14560734563429756,
+                            -0.735990126839232
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.35342878103256226,
+                    "position": [
+                        -0.031675847130827606,
+                        -0.14796682121232152,
+                        -0.21013838425278664
+                    ],
+                    "orientation": {
+                        "w": 0.6415264056546339,
+                        "xyz": [
+                            -0.05418473542262749,
+                            -0.033773991532551895,
+                            -0.7644391426339875
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.3515877425670624,
+                    "position": [
+                        -0.015049960347823799,
+                        -0.13925418676808476,
+                        -0.2099081166088581
+                    ],
+                    "orientation": {
+                        "w": 0.6748678416425686,
+                        "xyz": [
+                            -0.00763397639293159,
+                            0.00458851587446063,
+                            -0.7378848583913363
+                        ]
+                    }
+                },
+                "grasp_52": {
+                    "confidence": 0.325429230928421,
+                    "position": [
+                        0.04518852580804378,
+                        0.15341244218870997,
+                        -0.20103887096047401
+                    ],
+                    "orientation": {
+                        "w": 0.7758592955292568,
+                        "xyz": [
+                            -0.06653129317407151,
+                            -0.16807509410874488,
+                            0.6044557083110125
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.3133734166622162,
+                    "position": [
+                        -0.011043584789149463,
+                        -0.14904699148610234,
+                        -0.20602500811219215
+                    ],
+                    "orientation": {
+                        "w": 0.730508915109633,
+                        "xyz": [
+                            -0.15170092586749867,
+                            0.06029732375146557,
+                            -0.6631046574898279
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the basket on a surface",
+                "close the bottom",
+                "bear stored load",
+                "provide stability"
+            ],
+            "semantic_description": "Flat oval-rectangular bottom panel in dark brown wicker or rattan with a matte finish, hard subtly textured surface, and broad underside positioned at the lowest part of the basket.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom edge",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the bottom edge to tilt or reorient the basket",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp the lower edge while turning the basket over for inspection",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "reinforce the base perimeter",
+                "protect the lower edge",
+                "help stabilize contact with surfaces",
+                "connect side walls to the base"
+            ],
+            "semantic_description": "Narrow medium-brown border around the basket bottom with a matte finish, hard slightly smoother texture than the woven walls, and a continuous perimeter band at the lowest outer edge.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a916ebbf46dbd76304644900577f8eaa789d3fb17877629cd03e6a29b35e197b
+size 2091536