Add asset bedroom_supplies/storage/16f35580b739532098b5ae9eac875487

.gitattributes

@@ -5966,3 +5966,4 @@ dataset/bedroom_supplies/storage/1219d6489df755909cb8b83810467bdd/affordance/mes
 dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/affordance_annot.json

@@ -0,0 +1,227 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up or reposition the empty basket",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the body to stabilize the basket while placing items inside",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "grasp the body from opposite sides when the handles are inaccessible",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "support the handles",
+                "provide side grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Large light-gray plastic basket body with a matte hard surface, rounded-rectangular tapered shape, and tall curved side walls forming the main container.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket bottom",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support and lift the basket from underneath with a gripper or platform-style grasp",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "push against the bottom to reposition or slide the basket",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide a stable base",
+                "distribute load",
+                "contact the floor or shelf"
+            ],
+            "semantic_description": "Broad rounded-rectangular light-gray plastic underside with a matte hard surface, forming the exterior base of the basket.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.18313708901405334,
+                    "position": [
+                        -0.06370305234850093,
+                        -0.013203502632677555,
+                        -0.2428130879998207
+                    ],
+                    "orientation": {
+                        "w": 0.7762529075798749,
+                        "xyz": [
+                            0.24617735467873547,
+                            -0.1598340929016675,
+                            0.5579257981698564
+                        ]
+                    }
+                },
+                "grasp_67": {
+                    "confidence": 0.09882296621799469,
+                    "position": [
+                        0.00030116361631371547,
+                        -0.08171877544373274,
+                        -0.23710035532712936
+                    ],
+                    "orientation": {
+                        "w": 0.6717585674000719,
+                        "xyz": [
+                            0.10416305205418003,
+                            0.03577937813093479,
+                            -0.7325369081568011
+                        ]
+                    }
+                },
+                "grasp_77": {
+                    "confidence": 0.11324580758810043,
+                    "position": [
+                        0.010128636264198576,
+                        0.21782888937741518,
+                        -0.16147946566343307
+                    ],
+                    "orientation": {
+                        "w": 0.6146282549274746,
+                        "xyz": [
+                            0.49437994085607273,
+                            0.2619775145059534,
+                            -0.5560470881294465
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle to drag or reposition the basket",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the handle to lift a lightly loaded basket from one side",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the handle to steady the basket during transport with a second gripper on the other handle",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "pull the basket",
+                "stabilize during transport",
+                "assist lifting"
+            ],
+            "semantic_description": "Small arched light-gray plastic handle with a matte smooth hard surface, attached near the rim on one short side and shaped as a rounded loop for carrying.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle to drag or reposition the basket",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the handle to lift a lightly loaded basket from one side",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the handle to steady the basket during transport with a second gripper on the other handle",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "pull the basket",
+                "stabilize during transport",
+                "assist lifting"
+            ],
+            "semantic_description": "Small arched light-gray plastic handle with a matte smooth hard surface, attached near the opposite rim and formed as a rounded loop for carrying.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim to nudge or rotate the basket",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "grasp the rim to steady the basket while loading or unloading",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "lift the empty basket briefly by the rim when handles are unavailable",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "define the top edge",
+                "provide a stabilizing hold",
+                "help maintain shape"
+            ],
+            "semantic_description": "Thin rounded light-gray plastic rim with a matte smooth hard finish, running continuously around the basket opening and slightly thickened relative to the side walls.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom edge band",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the lower edge band to slightly reposition the empty basket",
+                    "confidence": 0.26
+                }
+            ],
+            "functional_labels": [
+                "reinforce the lower perimeter",
+                "protect the base edge",
+                "define the bottom boundary"
+            ],
+            "semantic_description": "Narrow light-gray plastic band with a matte hard surface tracing the lower outer edge of the basket where the side walls meet the base.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior floor",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form the inner resting surface",
+                "distribute load inside the basket"
+            ],
+            "semantic_description": "Visible light-gray plastic interior base surface with a matte hard finish, seen through the open top as the bottom resting area inside the basket.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b1567cf4baba1ab8ed09bd2e76eb86451ddac904e874c5aa56ee438f4d62eff
+size 1915064