Add asset bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88

.gitattributes

@@ -6057,4 +6057,4 @@ dataset/bedroom_supplies/storage/d6c2f62be05d5f9682c279f52adda540/affordance/mes
 dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/d86cdfd81a315184a8cfd74e09300e26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/affordance/affordance_annot.json

@@ -0,0 +1,302 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the basket",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to reposition or swing the basket",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the handle to pull the basket closer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "carry the basket",
+                "provide a top grip",
+                "suspend the basket from above",
+                "help reposition the basket"
+            ],
+            "semantic_description": "Thin arched tan-brown woven handle made of wicker or rattan, with a matte slightly rough texture and narrow curved form spanning the basket opening.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.7778040170669556,
+                    "position": [
+                        -0.042956865625455976,
+                        -0.023230292157677468,
+                        0.2110196128487587
+                    ],
+                    "orientation": {
+                        "w": 0.41912295224231316,
+                        "xyz": [
+                            -0.5362163002965431,
+                            0.7273918755701078,
+                            -0.08780142114212525
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to pick up the basket when the handle is inaccessible",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket during placement",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "grasp the rim edge to rotate or orient the basket",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide an edge grip",
+                "maintain basket shape",
+                "support top structure"
+            ],
+            "semantic_description": "Circular tan-brown woven rim with a matte hard finish and slightly rough texture, forming a thicker band around the top opening of the basket.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.9209573268890381,
+                    "position": [
+                        -0.07412510295398533,
+                        -0.12273058506980306,
+                        0.15392082184553146
+                    ],
+                    "orientation": {
+                        "w": 0.02984219386320379,
+                        "xyz": [
+                            -0.8456292642411332,
+                            -0.5310984701730653,
+                            -0.0442154487058596
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up the empty basket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the sidewall to stabilize the basket while loading or unloading",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the body to rotate the basket on a surface",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the basket cavity",
+                "provide side support",
+                "protect contents"
+            ],
+            "semantic_description": "Large tapered tan-brown woven basket wall made of wicker or rattan, with a matte slightly rough texture, vertical ribbing, and a rounded open-top bucket shape.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_43": {
+                    "confidence": 0.7890024781227112,
+                    "position": [
+                        0.029921945882961154,
+                        -0.16186691287293797,
+                        0.12775643914937973
+                    ],
+                    "orientation": {
+                        "w": 0.11785702657210653,
+                        "xyz": [
+                            -0.7734595984271833,
+                            0.6062713782695124,
+                            0.14249556757888357
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.7848233580589294,
+                    "position": [
+                        -0.010451713809743524,
+                        0.1654184215949499,
+                        0.12869519740343094
+                    ],
+                    "orientation": {
+                        "w": 0.2065046348955866,
+                        "xyz": [
+                            0.6907979142737006,
+                            0.6897457670230197,
+                            -0.06636907619947048
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.7812604904174805,
+                    "position": [
+                        0.04842594708316028,
+                        0.14374544259771938,
+                        0.13724840432405472
+                    ],
+                    "orientation": {
+                        "w": 0.17549199393118675,
+                        "xyz": [
+                            0.6279039685270783,
+                            -0.7566651992463544,
+                            -0.04895858069303478
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.7708883285522461,
+                    "position": [
+                        -0.0744475640822202,
+                        -0.12603321138158208,
+                        0.13509664684534073
+                    ],
+                    "orientation": {
+                        "w": 0.08638623004715908,
+                        "xyz": [
+                            -0.5358578515693432,
+                            0.8391849940499233,
+                            0.03409293080916085
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+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.7642822861671448,
+                    "position": [
+                        -0.024351748870685697,
+                        -0.14473854962125188,
+                        0.1326204314827919
+                    ],
+                    "orientation": {
+                        "w": 0.18225122886766515,
+                        "xyz": [
+                            -0.705427706376795,
+                            0.6840335224115651,
+                            -0.03541723972061275
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.755217432975769,
+                    "position": [
+                        -0.0682696767617017,
+                        -0.12172372105851537,
+                        0.13734320551156998
+                    ],
+                    "orientation": {
+                        "w": 0.0652092944152975,
+                        "xyz": [
+                            -0.5363085366729395,
+                            0.841485514006998,
+                            0.004799075949394484
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+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.7396609783172607,
+                    "position": [
+                        0.08267137478105724,
+                        -0.12328865590825444,
+                        0.13430411368608475
+                    ],
+                    "orientation": {
+                        "w": 0.13664450576615486,
+                        "xyz": [
+                            -0.9041202176883965,
+                            0.4030021289470906,
+                            0.038525252434249646
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.7238269448280334,
+                    "position": [
+                        -0.04549381439574063,
+                        -0.1245709678842104,
+                        0.13364049047231674
+                    ],
+                    "orientation": {
+                        "w": 0.048292749249887086,
+                        "xyz": [
+                            -0.5914197640809196,
+                            0.8044461338018647,
+                            -0.027511649088879046
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.7223606705665588,
+                    "position": [
+                        0.09449065546505153,
+                        -0.12143835637107259,
+                        0.13177620619535446
+                    ],
+                    "orientation": {
+                        "w": 0.11903835177368324,
+                        "xyz": [
+                            -0.8768227280902834,
+                            0.4633376279490024,
+                            0.04827024795782573
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.7207340598106384,
+                    "position": [
+                        0.07685451279394329,
+                        -0.12599056425824529,
+                        0.1303146705031395
+                    ],
+                    "orientation": {
+                        "w": 0.14478052386054946,
+                        "xyz": [
+                            -0.581309036910002,
+                            -0.7962831134112645,
+                            0.0839738460087066
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "basket base",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the basket on surfaces",
+                "close the bottom",
+                "distribute load of contents",
+                "stabilize upright placement"
+            ],
+            "semantic_description": "Flat to slightly rounded tan-brown woven bottom panel with a matte hard finish and rough fibrous texture, located at the underside and sized to support the basket.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0835d1ef275494bc1c060094d393e5e8a7d6347d4f07ddc4e0394dc9515513ed
+size 1499132

dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55cc9bd40f335fcf56c88.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>