Add asset bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490

.gitattributes

@@ -8116,3 +8116,4 @@ dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/affordance/mes
 dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c1c6e162d924592c8dead72d20fc5858/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/affordance/affordance_annot.json

@@ -0,0 +1,194 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket body from the sides to pick up the basket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the basket body to stabilize it while placing or arranging contents",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "support the basket from below at the lower wall and base area",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "support decorative contents",
+                "provide main structure",
+                "stabilize basket on a surface",
+                "present contents"
+            ],
+            "semantic_description": "Main bucket-shaped basket body with pale pink woven material, a mostly matte finish, slightly rough wicker-like texture, vertical ribbed sides, floral and ribbon decorations around the rim, and a round base.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "basket handle",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the arched handle to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to reposition or hang the basket",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the handle to pull the basket closer across a surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a top grip",
+                "enable carrying",
+                "support hanging",
+                "aid repositioning"
+            ],
+            "semantic_description": "Tall arched handle in light gray-white material with a matte smooth surface and hard feel, slender and centered over the basket, spanning from one rim side to the other.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9357439875602722,
+                    "position": [
+                        -0.005039077252149582,
+                        -0.15389502164907753,
+                        0.09218644350767136
+                    ],
+                    "orientation": {
+                        "w": 0.7606895634306172,
+                        "xyz": [
+                            -0.6273564307651672,
+                            -0.06529143350305466,
+                            -0.15333729349523312
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9151109457015991,
+                    "position": [
+                        -0.0040502166375517845,
+                        -0.11324828234501183,
+                        0.1832626387476921
+                    ],
+                    "orientation": {
+                        "w": 0.5147608565729087,
+                        "xyz": [
+                            -0.8572067616252746,
+                            0.010772621709186248,
+                            0.0100885571687026
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9030994176864624,
+                    "position": [
+                        -0.010967242531478405,
+                        0.04776642355136573,
+                        0.22113008052110672
+                    ],
+                    "orientation": {
+                        "w": 0.0758672268789334,
+                        "xyz": [
+                            0.10172729735954328,
+                            0.9489280822431074,
+                            -0.28884462187834054
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.854664146900177,
+                    "position": [
+                        -0.030045893974602222,
+                        0.03487673285417259,
+                        0.21062303334474564
+                    ],
+                    "orientation": {
+                        "w": 0.18378907899693053,
+                        "xyz": [
+                            0.10010554021163481,
+                            0.9301628232883616,
+                            -0.301658047186912
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.841213583946228,
+                    "position": [
+                        0.02367639448493719,
+                        0.1203595984261483,
+                        0.16464344412088394
+                    ],
+                    "orientation": {
+                        "w": 0.10915405785077982,
+                        "xyz": [
+                            -0.11345010353702231,
+                            -0.7847998274513561,
+                            0.5994194662291754
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.6010429263114929,
+                    "position": [
+                        -0.030748133547604084,
+                        -0.02738976967521012,
+                        0.21572855859994888
+                    ],
+                    "orientation": {
+                        "w": 0.11407279266365612,
+                        "xyz": [
+                            0.986596860081994,
+                            0.047559924293359285,
+                            0.10654617426953912
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9563274383544922,
+                    "position": [
+                        0.020982165820896626,
+                        0.022544317645952106,
+                        0.2336774244904518
+                    ],
+                    "orientation": {
+                        "w": 0.1345190104581182,
+                        "xyz": [
+                            -0.02441639249699119,
+                            -0.9751356503516518,
+                            0.17441026063870857
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9536333084106445,
+                    "position": [
+                        -0.013086437247693539,
+                        0.07295830431394279,
+                        0.22418168932199478
+                    ],
+                    "orientation": {
+                        "w": 0.2685831568841951,
+                        "xyz": [
+                            0.9609203606110341,
+                            0.05316808668267159,
+                            0.040844864546034684
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e084e8d10846d86a6c7d8cf974ad02e6f4f9532485a136672af15b97bccd6a25
+size 1349884

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.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>