Add asset bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508

.gitattributes

@@ -5977,4 +5977,4 @@ dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/mes
 dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage bin body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim and sidewall to lift or carry the empty bin",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "clamp the opposing outer sidewalls to pick and place the bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the side of the bin to stabilize it while inserting or removing contents",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main grasp surface",
+                "support stacking",
+                "enclose contents",
+                "support the base and walls"
+            ],
+            "semantic_description": "One-piece dark gray plastic bin body with a matte hard smooth surface, rectangular tapered shape, perforated upper sidewalls, rounded rim, and a front label area on the medium-sized open container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9637947082519531,
+                    "position": [
+                        -0.1378064138116315,
+                        0.008128264846163802,
+                        0.003900290554156527
+                    ],
+                    "orientation": {
+                        "w": 0.686761993049066,
+                        "xyz": [
+                            0.03267986737159055,
+                            0.7259794934200596,
+                            0.015613017178090965
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9559860229492188,
+                    "position": [
+                        -0.14424533967394382,
+                        -0.0003163426445098594,
+                        -0.007322552992263809
+                    ],
+                    "orientation": {
+                        "w": 0.702274233039706,
+                        "xyz": [
+                            0.02467887056932551,
+                            0.7090197686074484,
+                            0.05910010727363306
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9538859128952026,
+                    "position": [
+                        -0.14321440283674747,
+                        0.022298106850939803,
+                        0.006293960002949461
+                    ],
+                    "orientation": {
+                        "w": 0.6741961777163381,
+                        "xyz": [
+                            0.04262007568097874,
+                            0.7368284203108633,
+                            0.026961493353010485
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9527880549430847,
+                    "position": [
+                        -0.14420386974234134,
+                        0.009237806239980273,
+                        -0.005317730741808191
+                    ],
+                    "orientation": {
+                        "w": 0.7066072628985143,
+                        "xyz": [
+                            0.027819437202200405,
+                            0.7051880276562548,
+                            0.05140136752172487
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9508258700370789,
+                    "position": [
+                        0.143520342069678,
+                        -0.005866203995537944,
+                        5.5953540140762925e-05
+                    ],
+                    "orientation": {
+                        "w": 0.05172050182076598,
+                        "xyz": [
+                            -0.7141932699121248,
+                            -0.005925678043627869,
+                            0.6980099205909311
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.948983907699585,
+                    "position": [
+                        -0.12935823027510196,
+                        -0.03725371703330893,
+                        -0.01125275288359262
+                    ],
+                    "orientation": {
+                        "w": 0.7003231789344173,
+                        "xyz": [
+                            -0.10528987783102044,
+                            0.6764224116952517,
+                            0.2022726072158586
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9452945590019226,
+                    "position": [
+                        -0.13865424518007785,
+                        -0.019712995810550638,
+                        -0.010982679581502452
+                    ],
+                    "orientation": {
+                        "w": 0.7082898383649809,
+                        "xyz": [
+                            -0.038036324721467014,
+                            0.6985493815543744,
+                            0.09437957618358539
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5eece7ff2ea3bb7cfc907f12b158eca6e3293e784b19e8fdd1eb7d8c3a243b5
+size 3777008

dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/storage_bin_029.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>