Add asset bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9

.gitattributes

@@ -6064,4 +6064,5 @@ dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/affordance/mes
 dataset/bedroom_supplies/storage/dfb77cf0a14855a2982543e83524625a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e25b276e0d295e5d978e6eb475e649f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/affordance_annot.json

@@ -0,0 +1,314 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket bottom panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the basket from underneath to lift it with a parallel gripper",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "push against the bottom panel to slide or reorient the basket on a surface",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "form the base",
+                "provide a resting surface",
+                "stabilize the basket structure"
+            ],
+            "semantic_description": "Flat light-gray plastic base panel with a matte hard smooth surface, broad rectangular shape, and central lower position forming the bottom of the basket interior and underside.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "long side wall",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "clamp a long outer side wall to pick up the empty basket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the basket during placement",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain items laterally",
+                "provide side support",
+                "define basket volume",
+                "offer an exterior gripping surface"
+            ],
+            "semantic_description": "Light-gray plastic long side wall with a matte hard smooth surface, slightly tapered rectangular shape, and large vertical area along one long side of the basket.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_66": {
+                    "confidence": 0.944068968296051,
+                    "position": [
+                        0.19422313594259322,
+                        0.09099762979894876,
+                        0.1794295720756054
+                    ],
+                    "orientation": {
+                        "w": 0.14626870902429986,
+                        "xyz": [
+                            0.9794605779481692,
+                            -0.0210228089483617,
+                            -0.13718776370261018
+                        ]
+                    }
+                },
+                "grasp_67": {
+                    "confidence": 0.9437793493270874,
+                    "position": [
+                        0.1812895240727812,
+                        0.04077025968581438,
+                        0.17903650924563408
+                    ],
+                    "orientation": {
+                        "w": 0.08555912933107268,
+                        "xyz": [
+                            0.9939086529572663,
+                            -0.04446349438598589,
+                            -0.05336874208531254
+                        ]
+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.9430575370788574,
+                    "position": [
+                        0.16253270232118666,
+                        0.02785779256373644,
+                        0.18823162838816643
+                    ],
+                    "orientation": {
+                        "w": 0.04728004185891241,
+                        "xyz": [
+                            -0.02198245203242489,
+                            -0.998430273249173,
+                            0.020453823702269898
+                        ]
+                    }
+                },
+                "grasp_71": {
+                    "confidence": 0.9410381317138672,
+                    "position": [
+                        0.17467054747976363,
+                        0.061077107675373554,
+                        0.18553514406085014
+                    ],
+                    "orientation": {
+                        "w": 0.09841692952816512,
+                        "xyz": [
+                            0.9907203782500525,
+                            -0.044622095252096566,
+                            -0.08243851477091277
+                        ]
+                    }
+                },
+                "grasp_78": {
+                    "confidence": 0.9338500499725342,
+                    "position": [
+                        0.17614518129266798,
+                        0.014576154761016369,
+                        0.18138190731406212
+                    ],
+                    "orientation": {
+                        "w": 0.0961650734644587,
+                        "xyz": [
+                            0.9928468233307637,
+                            -0.03797552504309745,
+                            -0.05971033030630097
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "opposite long side wall",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "clamp the opposite long outer side wall to pick up the empty basket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold this wall to stabilize the basket during transport or placement",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain items laterally",
+                "provide side support",
+                "define basket volume",
+                "offer an exterior gripping surface"
+            ],
+            "semantic_description": "Light-gray plastic long side wall with a matte hard smooth surface, slightly tapered rectangular shape, and large vertical area along the other long side of the basket.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.9455370306968689,
+                    "position": [
+                        -0.16557913995347917,
+                        0.029929007403552532,
+                        0.1979438029229641
+                    ],
+                    "orientation": {
+                        "w": 0.13175328649316512,
+                        "xyz": [
+                            -0.041941004132432215,
+                            0.9884701591470509,
+                            0.06171521811042189
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.9438046813011169,
+                    "position": [
+                        -0.1773997691925615,
+                        0.03608791250735521,
+                        0.1956574283540249
+                    ],
+                    "orientation": {
+                        "w": 0.17940911600532788,
+                        "xyz": [
+                            -0.004933904195777158,
+                            0.9830668659654339,
+                            -0.03698057225724932
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.9423549175262451,
+                    "position": [
+                        -0.15605044341646135,
+                        -0.023532756604254246,
+                        0.19795061275362968
+                    ],
+                    "orientation": {
+                        "w": 0.0839145047525399,
+                        "xyz": [
+                            0.00833284470346794,
+                            0.9964123783274299,
+                            -0.0071618368564404155
+                        ]
+                    }
+                },
+                "grasp_50": {
+                    "confidence": 0.9381556510925293,
+                    "position": [
+                        -0.16062743938528,
+                        0.0331162428483367,
+                        0.1953277699649334
+                    ],
+                    "orientation": {
+                        "w": 0.09130767665811583,
+                        "xyz": [
+                            -0.03473240367393203,
+                            0.9932304021736125,
+                            0.06284852039922505
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.9369885921478271,
+                    "position": [
+                        -0.15903672552667558,
+                        0.04238881263881922,
+                        0.1986791007220745
+                    ],
+                    "orientation": {
+                        "w": 0.09359309912663294,
+                        "xyz": [
+                            0.007484356393259741,
+                            0.9952606510779499,
+                            -0.025309141059039943
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "short end wall",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket by pinching across a short end wall near the opening",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "use the end wall to steady the basket while loading or unloading",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "close one end",
+                "contain items at the end",
+                "support the rim opening",
+                "provide an end gripping surface"
+            ],
+            "semantic_description": "Light-gray plastic short end wall with a matte hard smooth surface, upright tapered shape, and medium-sized position at one narrow end of the basket.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "opposite short end wall",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket by pinching across the opposite short end wall near the opening",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "use this end wall to steady the basket while loading or unloading",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "close one end",
+                "contain items at the end",
+                "support the rim opening",
+                "provide an end gripping surface"
+            ],
+            "semantic_description": "Light-gray plastic short end wall with a matte hard smooth surface, upright tapered shape, and medium-sized position at the opposite narrow end of the basket.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the raised rim edge to lift the basket when lightly loaded",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the rim to guide and place the basket accurately",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide an edge for lifting",
+                "stiffen the upper structure",
+                "define the basket opening"
+            ],
+            "semantic_description": "Rounded light-gray plastic rim with a matte slightly smoother finish, continuous thick loop around the top opening, and hard smooth edges suitable for edge contact.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab386aedf64888f90aa249ab0efb920e8371861ac10e0002c8413cc0721177a1
+size 1090228