Add asset bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931

.gitattributes

@@ -5985,3 +5985,4 @@ dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/affordance/mes
 dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931/affordance/affordance_annot.json

@@ -0,0 +1,227 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage bin body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up and relocate the bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "clamp the lower outer body to stabilize the bin during placement",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the body when the handle openings are inaccessible",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form the main structure",
+                "support stored contents",
+                "provide outer grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Large tapered light pink plastic bin body with a smooth slightly glossy hard surface, rounded rectangular shape, and cute printed cat, cloud, and flower graphics on the outer sides.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.6909763813018799,
+                    "position": [
+                        -0.09436758652736899,
+                        -0.005101943388581276,
+                        0.10379876173101366
+                    ],
+                    "orientation": {
+                        "w": 0.17157553112876042,
+                        "xyz": [
+                            0.6629561352960228,
+                            0.7051641923849306,
+                            0.1838326999457755
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.6842597126960754,
+                    "position": [
+                        -0.08146650389244314,
+                        -0.002582119544968009,
+                        0.10923729813657701
+                    ],
+                    "orientation": {
+                        "w": 0.16527097289411752,
+                        "xyz": [
+                            -0.6978090582274872,
+                            0.6733632229660529,
+                            -0.17980543298540658
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.6339253187179565,
+                    "position": [
+                        -0.08562905386497732,
+                        0.005300906719639897,
+                        0.10373729444108903
+                    ],
+                    "orientation": {
+                        "w": 0.18186275389276,
+                        "xyz": [
+                            -0.6957008078362557,
+                            0.6709139245422384,
+                            -0.18110999579773318
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.5935452580451965,
+                    "position": [
+                        -0.10843479678442236,
+                        0.0007863324135541916,
+                        0.08832641667686403
+                    ],
+                    "orientation": {
+                        "w": 0.2830267341686294,
+                        "xyz": [
+                            0.61076009240937,
+                            0.6782428555866118,
+                            0.2947110552925625
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.5910266041755676,
+                    "position": [
+                        -0.09152231410553213,
+                        0.008741303579881787,
+                        0.09936472750268877
+                    ],
+                    "orientation": {
+                        "w": 0.19343533146239927,
+                        "xyz": [
+                            -0.6868063076894844,
+                            0.6724651101240117,
+                            -0.19664827465774984
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.5774989128112793,
+                    "position": [
+                        0.04946524232218508,
+                        0.012273797066882253,
+                        0.1163118181284517
+                    ],
+                    "orientation": {
+                        "w": 0.041495757685643585,
+                        "xyz": [
+                            0.6781652611252342,
+                            -0.7330468851971792,
+                            -0.03181579481564603
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.5678118467330933,
+                    "position": [
+                        0.04104873120377306,
+                        -0.007131270365789533,
+                        0.11075938469730318
+                    ],
+                    "orientation": {
+                        "w": 0.0007680210378763426,
+                        "xyz": [
+                            0.7306323915815058,
+                            -0.6826710816806076,
+                            -0.011658162488313152
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.5216926336288452,
+                    "position": [
+                        0.04706555559823755,
+                        0.012676391983404756,
+                        0.11287624365650117
+                    ],
+                    "orientation": {
+                        "w": 0.04556646511617932,
+                        "xyz": [
+                            0.6861789426731516,
+                            -0.7254713223745755,
+                            -0.02781216102457678
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.5193884372711182,
+                    "position": [
+                        0.029863245334126987,
+                        0.005655373213812709,
+                        0.11604168987832963
+                    ],
+                    "orientation": {
+                        "w": 0.0333358999458292,
+                        "xyz": [
+                            0.6640779393289984,
+                            0.7469191223487069,
+                            -0.0010163371439684933
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.5098360180854797,
+                    "position": [
+                        0.052547703977325,
+                        -0.000924105173908174,
+                        0.10698126978240907
+                    ],
+                    "orientation": {
+                        "w": 0.08301381263639573,
+                        "xyz": [
+                            0.7287751466563898,
+                            -0.6775772000877776,
+                            -0.05370875579209258
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim and handle section",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp through the cutout handle to lift or carry the bin",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch the thick top rim from above to reposition the bin",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the rim to steady the bin while loading or unloading contents",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide carrying handles",
+                "stiffen the opening",
+                "define the top opening",
+                "support manual or robotic lifting",
+                "aid bin positioning"
+            ],
+            "semantic_description": "Thick rounded rectangular upper rim and end panels in light pink plastic with a smooth glossy hard finish, integrating oval handle cutouts near the top edges around the open mouth of the bin.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96dccbb965a597d0713f1ef8729ef028bbc3761b1b564d8c155528cd3b3fc2ac
+size 3783064

dataset/bedroom_supplies/storage/29cb17731ccf5455b4c891b48f89e931/storage_bin_010.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>