Add asset bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a

.gitattributes

@@ -6069,3 +6069,4 @@ dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/mes
 dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e802e301aa7a5d8ab6295618c3e68bc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/affordance_annot.json

@@ -0,0 +1,121 @@
+{
+    "affordances": [
+        {
+            "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": "hook or pinch the handle to pull the basket closer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the handle to reorient the basket in the air",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the basket",
+                "swing upward for access",
+                "help reorient the basket"
+            ],
+            "semantic_description": "Arched medium-brown woven wood or wicker handle with a hard slightly glossy surface, smooth-to-ridged texture, and slender curved form spanning the basket opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim from the top edge to pick up or steady the basket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the basket while placing items inside",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide edge support",
+                "help stabilize the top",
+                "define the opening"
+            ],
+            "semantic_description": "Thick rounded medium-brown wicker rim with a hard slightly glossy finish, subtly ridged texture, and continuous circular band around the basket mouth.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up the basket when the handle is inaccessible",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the body to stabilize the basket during loading or unloading",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp opposite sides of the body for secure transport with a wider gripper",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide the main storage volume",
+                "support carried contents",
+                "form the basket structure"
+            ],
+            "semantic_description": "Bulbous medium-brown woven wicker body with a hard semi-gloss finish, ridged basket-weave texture, rounded tapering shape, and the largest part forming the sides and base container.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_42": {
+                    "confidence": 0.7508417367935181,
+                    "position": [
+                        -0.03559654811397195,
+                        -0.18159655388444662,
+                        0.151343934237957
+                    ],
+                    "orientation": {
+                        "w": 0.1201320543851451,
+                        "xyz": [
+                            -0.684786373851747,
+                            0.7160459443978593,
+                            0.06256290600314647
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.655590295791626,
+                    "position": [
+                        0.03922751685604453,
+                        -0.17248170729726553,
+                        0.15507140010595322
+                    ],
+                    "orientation": {
+                        "w": 0.11471230942477306,
+                        "xyz": [
+                            -0.793273518868318,
+                            0.5907104755561164,
+                            0.09284042436879529
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bba2157d72db29d7145cdfeeec886e8441e95b58069e918fdca3e403f66380
+size 1511872

dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/ea7d7b028495590a8888877a8277422a.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>