Add asset bedroom_supplies/storage/dabad4168c9150289af08007757d07ee

.gitattributes

@@ -6058,4 +6058,5 @@ dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mes
 dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d8cbe14aefb6527591688ff9df905f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/dd7216a0412d5ba586118382c5db2493/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/affordance/affordance_annot.json

@@ -0,0 +1,210 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to pick up the empty basket from above",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket during placement",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pinch the rim to reorient the basket",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide a grasping edge",
+                "stiffen the basket opening",
+                "define the opening boundary",
+                "support carrying and reorientation"
+            ],
+            "semantic_description": "Thick light beige woven-looking plastic or wicker rim with a matte smooth-to-slightly textured finish, forming a narrow raised oval edge around the basket opening.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.552857518196106,
+                    "position": [
+                        0.11491446643776726,
+                        0.04666481746244244,
+                        0.0619198412168771
+                    ],
+                    "orientation": {
+                        "w": 0.2662448158072675,
+                        "xyz": [
+                            -0.6971623651700561,
+                            -0.5143195069671636,
+                            0.4225562440661604
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.531173586845398,
+                    "position": [
+                        0.04286857023544144,
+                        0.099427407811163,
+                        0.060294608818367124
+                    ],
+                    "orientation": {
+                        "w": 0.06829100400674787,
+                        "xyz": [
+                            -0.5673970130631554,
+                            -0.6428132300145166,
+                            0.5100863845046875
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.5153577327728271,
+                    "position": [
+                        0.12211948334879708,
+                        0.03174746988224797,
+                        0.06662213359959424
+                    ],
+                    "orientation": {
+                        "w": 0.36622758714770426,
+                        "xyz": [
+                            0.4688562615579592,
+                            -0.7498400313087599,
+                            -0.2894669028692981
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.511040210723877,
+                    "position": [
+                        -0.09717256874137092,
+                        -0.004008685034932569,
+                        0.09532321547158062
+                    ],
+                    "orientation": {
+                        "w": 0.16132588351899874,
+                        "xyz": [
+                            0.4372426948675549,
+                            0.8614053767150168,
+                            0.2019246445044098
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.36323875188827515,
+                    "position": [
+                        -0.12983303815417457,
+                        -0.03347251357627101,
+                        0.0662613392341882
+                    ],
+                    "orientation": {
+                        "w": 0.4020084025792115,
+                        "xyz": [
+                            -0.40196294514776126,
+                            0.7846958170397573,
+                            -0.24711841231311832
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7858758568763733,
+                    "position": [
+                        0.10461364388174843,
+                        0.07034771723556332,
+                        0.07171930675394833
+                    ],
+                    "orientation": {
+                        "w": 0.1271725961972965,
+                        "xyz": [
+                            -0.7064013955261829,
+                            -0.5384165522896583,
+                            0.44151083270472324
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket body from the sides to lift or move it",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "support the basket from below at the base",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the sidewall to steady the basket while loading contents",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "support stored contents",
+                "provide side enclosure",
+                "form the base and walls"
+            ],
+            "semantic_description": "Light beige basket body made of woven or molded wicker-like material with a matte hard surface, perforated oval sidewalls and a solid shallow base forming most of the basket volume.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.9819989204406738,
+                    "position": [
+                        -0.12489641756110359,
+                        -0.08676037358236499,
+                        -0.008057706756517291
+                    ],
+                    "orientation": {
+                        "w": 0.6526420495868361,
+                        "xyz": [
+                            -0.24294596510804184,
+                            0.6677963755714391,
+                            0.2628376189255741
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9787485599517822,
+                    "position": [
+                        0.03152652159042191,
+                        0.1231865270237904,
+                        0.04313456197269261
+                    ],
+                    "orientation": {
+                        "w": 0.33511864395221574,
+                        "xyz": [
+                            0.666525026734049,
+                            0.5568814020887625,
+                            -0.3651342043967635
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9781889319419861,
+                    "position": [
+                        0.08259561359591316,
+                        0.10596387667465024,
+                        0.04482527379877865
+                    ],
+                    "orientation": {
+                        "w": 0.23977799838109326,
+                        "xyz": [
+                            0.7637422160106017,
+                            0.41524126339498546,
+                            -0.43217939810882716
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25fa726f0957b51901751a12b1e7ba7774be88c4c95bcfa74f1b379103a489c4
+size 3791224

dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/basket_011.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>