Add asset bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2

.gitattributes

@@ -8084,3 +8084,4 @@ dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mes
 dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/9494e7d49670560e9b4e999bebd1d8a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2/affordance/affordance_annot.json

@@ -0,0 +1,214 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up or reposition the empty bucket",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the body to stabilize the bucket while filling or pouring",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the lower body to prevent tipping during manipulation",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support side grasping",
+                "stabilize the bucket upright",
+                "form the main volume"
+            ],
+            "semantic_description": "Large light gray plastic bucket body with a smooth matte finish, tapered cylindrical shape, and plain unmarked surface, forming most of the object's height and volume.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.28779473900794983,
+                    "position": [
+                        -0.0062785393092781305,
+                        -0.06740669393911958,
+                        -0.2406226685270667
+                    ],
+                    "orientation": {
+                        "w": 0.5446097316090526,
+                        "xyz": [
+                            0.19936090014208083,
+                            -0.005578030283817426,
+                            -0.8146314242093833
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.27492499351501465,
+                    "position": [
+                        0.0018082329188473523,
+                        -0.07733319187536836,
+                        -0.23935119714587927
+                    ],
+                    "orientation": {
+                        "w": 0.8208021409229751,
+                        "xyz": [
+                            -0.059790847019340614,
+                            -0.17979235048119746,
+                            0.5388725366702374
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.2663525938987732,
+                    "position": [
+                        -0.03082723473198712,
+                        -0.06644100928679109,
+                        -0.24276657309383154
+                    ],
+                    "orientation": {
+                        "w": 0.573805758263297,
+                        "xyz": [
+                            0.10818453106011248,
+                            0.042906120615769705,
+                            -0.8106800378921951
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.25925636291503906,
+                    "position": [
+                        0.010048469295725226,
+                        -0.06964853638783097,
+                        -0.23828484024852514
+                    ],
+                    "orientation": {
+                        "w": 0.638050346269433,
+                        "xyz": [
+                            0.21013458950351566,
+                            -0.01927806797855869,
+                            -0.7405157432591555
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim to lift or slightly reposition the empty bucket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the rim to stabilize the bucket while pouring or scraping contents",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "support top gripping",
+                "define the opening edge",
+                "help stabilize during pouring"
+            ],
+            "semantic_description": "Thick circular light gray plastic rim with a smooth hard surface and rounded profile around the top opening of the bucket.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper reinforcement band",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the band area around the upper side to steady the bucket",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the band while aligning the bucket under a spout or surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "reinforce upper wall",
+                "support side handling",
+                "stabilize the top section",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Narrow light gray plastic band just below the rim, with a smooth hard finish and ring-like shape encircling the upper bucket wall.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_50": {
+                    "confidence": 0.10372209548950195,
+                    "position": [
+                        0.16520086000673473,
+                        -0.1628968366421759,
+                        0.10056030843406916
+                    ],
+                    "orientation": {
+                        "w": 0.23175129908940437,
+                        "xyz": [
+                            0.21033316579398298,
+                            -0.6523095850132552,
+                            -0.6903213020306483
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wire handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bail handle to lift and carry the bucket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the handle to drag or reposition the bucket slightly",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the handle to tilt the bucket for pouring",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "carry the bucket",
+                "lift the bucket",
+                "pull to reposition",
+                "tilt for pouring"
+            ],
+            "semantic_description": "Thin arched metal wire bail handle, dark gray to metallic in appearance, with a smooth hard surface spanning between opposite sides near the rim as the primary carrying element.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle lug",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small lug only for minor stabilization or orientation adjustment",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "anchor the handle",
+                "transfer handle load to bucket",
+                "indicate handle attachment point"
+            ],
+            "semantic_description": "Small light gray plastic side lug near the upper rim, protruding slightly from the bucket wall and serving as the handle attachment point.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bucket body color/material description is wrong; object appears dark gray metal, not light gray plastic."
+    }
+}

dataset/bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e41f874a212083d6404bb1e01c73e3fb6b937ebbee1525b9412c3960a12296a
+size 2411968