Add asset bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26

.gitattributes

@@ -6076,4 +6076,4 @@ dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/affordance/mes
 dataset/bedroom_supplies/storage/ed7575c47304597cb04abe5e141f25f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f29f18d882545bfb8f2370e18ab27515/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/affordance_annot.json

@@ -0,0 +1,97 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch the rim to pull the basket across a surface",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket during loading or unloading",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "reinforce the opening",
+                "define the basket opening",
+                "support carrying and repositioning"
+            ],
+            "semantic_description": "Thick blue coated metal top rim with a smooth semi-matte finish, rounded rectangular loop shape, running around the basket opening as the prominent upper edge.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket body",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls of the basket body to pick it up",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the basket while placing items inside",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the lower body to reposition the basket on a shelf or table",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the side walls and base",
+                "provide ventilation through open grid",
+                "support stored contents"
+            ],
+            "semantic_description": "Large blue coated metal wire-frame body with a hard smooth semi-matte finish, open lattice walls and base, rectangular tapered shape, and evenly spaced rods forming the main container.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_33": {
+                    "confidence": 0.3111392557621002,
+                    "position": [
+                        -0.1597451134584844,
+                        -0.1898875484475866,
+                        0.07681296486407518
+                    ],
+                    "orientation": {
+                        "w": 0.6440734066364997,
+                        "xyz": [
+                            -0.75955024582366,
+                            -0.021194973488710134,
+                            -0.08833823652125443
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.13447695970535278,
+                    "position": [
+                        -0.14746798714622855,
+                        -0.18053070700261742,
+                        0.044689507223665714
+                    ],
+                    "orientation": {
+                        "w": 0.24843763998146998,
+                        "xyz": [
+                            -0.023459452868639968,
+                            0.7370364716021223,
+                            0.6280968338081601
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:097a7b87e859853ab57078912d91bb4c730279b2fe4ea13dedd8f23ffc7b37a2
+size 1035012

dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/f3011ec550bb59f5af91dc1ba6b11a26.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.465483665466309</ImageAestheticChecker>
          <overall>NO</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>