Add asset bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91

.gitattributes

@@ -5997,3 +5997,4 @@ dataset/bedroom_supplies/storage/2dae3288e0b05b54987184fc3cb69440/affordance/mes
 dataset/bedroom_supplies/storage/2f3fa105f7e955849a65ceb9d885e73f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/30962f1a65b35f229c26c450bedb7cd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/affordance_annot.json

@@ -0,0 +1,158 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the bucket",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hook or pinch the handle to pull the bucket closer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle to tilt and pour the bucket",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "carry the bucket",
+                "provide a suspended grip",
+                "swing for repositioning",
+                "assist tilting for pouring"
+            ],
+            "semantic_description": "Thin curved orange plastic handle with a semi-gloss hard smooth surface, arching above the bucket rim and spanning side to side with small pivoting end mounts.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bucket body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bucket body from the sides to pick it up when empty or light",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize the bucket while setting it down or aligning it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "form the main structure",
+                "provide side grasp surface",
+                "support storage and transport"
+            ],
+            "semantic_description": "Large tapered orange plastic bucket body with a glossy hard smooth surface, cylindrical shape with a slightly narrower base, forming most of the object's volume below the rim.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.5138609409332275,
+                    "position": [
+                        0.10064416838577017,
+                        0.03025651420466602,
+                        0.07800250127911568
+                    ],
+                    "orientation": {
+                        "w": 0.10413752930416102,
+                        "xyz": [
+                            0.9797770077652648,
+                            0.08343964363521289,
+                            -0.14909800774992954
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.32970577478408813,
+                    "position": [
+                        0.06258906883886084,
+                        -0.060240955324843526,
+                        0.09734905138611794
+                    ],
+                    "orientation": {
+                        "w": 0.09039890528487442,
+                        "xyz": [
+                            0.1784843188483722,
+                            0.9518592700097024,
+                            0.23223978114252075
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "reinforcement band",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side band to stabilize the bucket during handling",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "pinch the band area to rotate or reposition the empty bucket",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "reinforce the upper wall",
+                "stiffen the bucket opening",
+                "support shape retention",
+                "provide upper-side stabilization"
+            ],
+            "semantic_description": "Narrow orange plastic band around the upper outer wall below the rim, with a smooth slightly glossy hard surface and ring-like shape encircling the bucket.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to lift or reposition the empty bucket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the rim to steady the bucket while filling or emptying",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "define the opening",
+                "stiffen the top edge",
+                "support pouring control",
+                "provide an upper gripping edge"
+            ],
+            "semantic_description": "Thick circular orange plastic rim with a glossy hard smooth finish, surrounding the bucket opening at the top and slightly protruding outward from the wall.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_62": {
+                    "confidence": 0.9333246350288391,
+                    "position": [
+                        0.09400231105973944,
+                        -0.016374741913750768,
+                        0.1242169626057148
+                    ],
+                    "orientation": {
+                        "w": 0.07129476515417937,
+                        "xyz": [
+                            0.9717063957833425,
+                            -0.17298018075878308,
+                            -0.14415822529434508
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dab5f1a330ec33f86742f15fbc12d804027355a6abd5f3333b935abeba6c41a
+size 1196812