Add asset bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c

.gitattributes

@@ -8085,3 +8085,4 @@ dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mes
 dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/affordance_annot.json

@@ -0,0 +1,246 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim or side wall to pick up the empty basket",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold opposite side walls to stabilize and reposition the basket",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the basket body while loading or unloading contents",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "support carried contents",
+                "provide graspable rim",
+                "provide side support",
+                "allow placement on a surface"
+            ],
+            "semantic_description": "Open square basket body made of white plastic lattice with a matte smooth hard finish, rounded top rim, slightly tapered sides, and a medium-sized lightweight container form with open grid holes.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9807097911834717,
+                    "position": [
+                        -0.07873753132298589,
+                        -0.013762347109150141,
+                        0.13098520715720952
+                    ],
+                    "orientation": {
+                        "w": 0.20291784534339083,
+                        "xyz": [
+                            -0.9778461711800782,
+                            -7.421961536199784e-05,
+                            -0.05139268470420279
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9805023074150085,
+                    "position": [
+                        -0.07631843211129308,
+                        -0.01725648221326992,
+                        0.13049832661636174
+                    ],
+                    "orientation": {
+                        "w": 0.04100538990870742,
+                        "xyz": [
+                            0.007076391903361623,
+                            0.9990846140508403,
+                            0.009920516264193572
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9799547791481018,
+                    "position": [
+                        -0.07453668536618352,
+                        0.002307385264430195,
+                        0.12937211175449193
+                    ],
+                    "orientation": {
+                        "w": 0.015593805294221294,
+                        "xyz": [
+                            -0.0006756500111232672,
+                            0.999805895417982,
+                            -0.012022820840177908
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9775879383087158,
+                    "position": [
+                        -0.07285970123484731,
+                        -0.019601120322477072,
+                        0.13535160501487553
+                    ],
+                    "orientation": {
+                        "w": 0.013000793844996436,
+                        "xyz": [
+                            -0.004814356380788163,
+                            0.9996350766220063,
+                            0.023184367986960965
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9770702123641968,
+                    "position": [
+                        -0.07931989105418324,
+                        -0.007476414262782782,
+                        0.1391988315153867
+                    ],
+                    "orientation": {
+                        "w": 0.03452134929998381,
+                        "xyz": [
+                            -0.0004491466985915461,
+                            0.9988538658897018,
+                            -0.033151610925396716
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9753794074058533,
+                    "position": [
+                        -0.007661039475351572,
+                        -0.08601417083991691,
+                        0.13147021015174687
+                    ],
+                    "orientation": {
+                        "w": 0.06884651762167296,
+                        "xyz": [
+                            -0.7140872866324894,
+                            -0.6964576359603272,
+                            -0.016919379237130605
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9731272459030151,
+                    "position": [
+                        0.01816140068694949,
+                        0.0941920981858857,
+                        0.12005305220372975
+                    ],
+                    "orientation": {
+                        "w": 0.05829587440647609,
+                        "xyz": [
+                            0.7383642276799913,
+                            0.6486134261363926,
+                            -0.17527259268158507
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9728683829307556,
+                    "position": [
+                        -0.07711558463051915,
+                        -0.030939007818233222,
+                        0.12439414043910801
+                    ],
+                    "orientation": {
+                        "w": 0.04057003886797455,
+                        "xyz": [
+                            -0.02613299374395713,
+                            0.9986998792241328,
+                            0.01642223559480661
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9727502465248108,
+                    "position": [
+                        0.011358956340700388,
+                        -0.07752870459808037,
+                        0.13353364844806492
+                    ],
+                    "orientation": {
+                        "w": 0.03695416445736259,
+                        "xyz": [
+                            -0.7171731887394045,
+                            0.6958880839794641,
+                            0.006064788372483144
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9718377590179443,
+                    "position": [
+                        0.07487977622076869,
+                        -0.026710447564255446,
+                        0.13740501482971013
+                    ],
+                    "orientation": {
+                        "w": 0.12755650141733807,
+                        "xyz": [
+                            -0.9916463520959463,
+                            -0.00038543560777398733,
+                            0.019149484597854333
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9707149267196655,
+                    "position": [
+                        -0.007911276537925005,
+                        -0.0912130965734832,
+                        0.128862313227728
+                    ],
+                    "orientation": {
+                        "w": 0.13424922685323296,
+                        "xyz": [
+                            -0.6966643834558833,
+                            0.6996861693516016,
+                            0.08411388905183999
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9698136448860168,
+                    "position": [
+                        0.0788068207912147,
+                        -0.02410113875521347,
+                        0.13193451543338597
+                    ],
+                    "orientation": {
+                        "w": 0.036762609972476004,
+                        "xyz": [
+                            -0.005672971302417601,
+                            -0.9982529667142312,
+                            -0.045905798662582466
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9697176814079285,
+                    "position": [
+                        -0.06397844525054097,
+                        -0.07999118109000847,
+                        0.13208759506233037
+                    ],
+                    "orientation": {
+                        "w": 0.16614594341139205,
+                        "xyz": [
+                            -0.6422575548166916,
+                            0.7461635834907643,
+                            -0.056041640242269014
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f16429607a2da8a02071db03488f39e6c2aa820c206530373898812edc1ab6
+size 3777016

dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/basket_012.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <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>
       <quality>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>