Add asset bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8

.gitattributes

@@ -8068,3 +8068,4 @@ dataset/bedroom_supplies/storage/7ac28edb8a565d2fae7abe5161901d52/affordance/mes
 dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/affordance/affordance_annot.json

@@ -0,0 +1,210 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket body from the sides to pick up the empty basket",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the side walls to stabilize the basket during placement",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch the upper side of the body when the handles are inaccessible",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "support the base and side walls",
+                "provide side contact for lifting",
+                "protect contents"
+            ],
+            "semantic_description": "Large soft-sided brown leather body with a matte to slightly satin finish, smooth supple texture, rounded rectangular tub shape, and visible stitched seams forming the main basket volume.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.9350072145462036,
+                    "position": [
+                        0.02965703846530232,
+                        -0.0813573517370969,
+                        0.10040100570768118
+                    ],
+                    "orientation": {
+                        "w": 0.14401073499327563,
+                        "xyz": [
+                            -0.7768716296810909,
+                            0.5979649783769575,
+                            0.13479341170097026
+                        ]
+                    }
+                },
+                "grasp_41": {
+                    "confidence": 0.9348293542861938,
+                    "position": [
+                        0.027828956559460494,
+                        0.08247870276682079,
+                        0.093985958956182
+                    ],
+                    "orientation": {
+                        "w": 0.2635876059903155,
+                        "xyz": [
+                            0.6465011720677142,
+                            -0.7145901822051599,
+                            0.043802739404772105
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.9272006750106812,
+                    "position": [
+                        -0.04038864506765094,
+                        -0.12670775433070958,
+                        0.034336711280047894
+                    ],
+                    "orientation": {
+                        "w": 0.3628321585548699,
+                        "xyz": [
+                            -0.4204001053749638,
+                            0.6681885897674716,
+                            0.49511673837963766
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.9239785075187683,
+                    "position": [
+                        0.03291002900914464,
+                        -0.07674974133260548,
+                        0.09476414229720831
+                    ],
+                    "orientation": {
+                        "w": 0.18600079298198208,
+                        "xyz": [
+                            -0.5586188765043747,
+                            -0.800690416060512,
+                            -0.11065041098843008
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.9238561391830444,
+                    "position": [
+                        0.04776304455117497,
+                        -0.082831158535555,
+                        0.0930723687633872
+                    ],
+                    "orientation": {
+                        "w": 0.15719081649115588,
+                        "xyz": [
+                            -0.786483091396581,
+                            0.5649620326513446,
+                            0.19378672766879984
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to lift or reposition the lightweight basket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pinch the rim to open and orient the basket mouth",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket while loading contents",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "define the top edge",
+                "help keep the mouth open",
+                "provide a stabilizing grip",
+                "protect the upper edge"
+            ],
+            "semantic_description": "Thick brown leather rim around the basket opening, slightly glossy and padded-looking with smooth soft texture, rounded rectangular shape, and prominent stitching along the top perimeter.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_18": {
+                    "confidence": 0.8471676111221313,
+                    "position": [
+                        -0.07422322912498203,
+                        0.08826631377451122,
+                        0.08358111139386892
+                    ],
+                    "orientation": {
+                        "w": 0.42808297596274647,
+                        "xyz": [
+                            0.8789994552719695,
+                            -0.12965137729286075,
+                            0.16521332781747308
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a handle loop to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hook or pinch a handle to pull the basket closer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold one handle to reorient the basket during placement",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "carry the basket",
+                "provide a dedicated grip",
+                "pull the basket",
+                "aid repositioning",
+                "indicate lifting points"
+            ],
+            "semantic_description": "Small arched brown leather loop handles with a smooth soft surface and stitched attachments, positioned on opposite sides of the basket and sized as compact dedicated carrying grips.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_34": {
+                    "confidence": 0.7794763445854187,
+                    "position": [
+                        -0.06255139543100086,
+                        0.024546733824536204,
+                        0.13205840345472097
+                    ],
+                    "orientation": {
+                        "w": 0.01825858676511934,
+                        "xyz": [
+                            0.1615862900294119,
+                            0.9861522304182505,
+                            -0.03256183847668222
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb92760216b9c59b2d594b66bff874a1fd7acf4be5d1bd33b7edc161edba6daa
+size 3782468

dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.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>