Add asset bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5

.gitattributes

@@ -5967,3 +5967,4 @@ dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/affordance/mes
 dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/1908aff04338563aa8374bf41e2df4a5.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/affordance_annot.json

@@ -0,0 +1,92 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up or reposition the empty bucket",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the upper body to stabilize the bucket while the handle is manipulated",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the body from opposite sides for transport when the handle is not used",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain liquids or materials",
+                "provide main structural support",
+                "serve as primary grasp surface",
+                "support standing on a flat surface"
+            ],
+            "semantic_description": "Large blue plastic bucket body with a hard smooth slightly glossy surface, tapered cylindrical shape, and the main outer wall and base forming most of the object.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bail handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the bucket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hook or pinch the handle to pull the bucket across a surface",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the handle to tilt and pour from the bucket",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "carry the bucket",
+                "lift the bucket",
+                "swing for transport",
+                "enable tilting while pouring"
+            ],
+            "semantic_description": "Thin curved blue plastic handle with a hard smooth finish, arching around the upper sides of the bucket and attached near the rim by small hinge points.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the bucket at short range",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bucket during filling or emptying",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "grasp the rim to rotate the bucket for alignment",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the top opening",
+                "provide a support edge",
+                "help stabilize during pouring or filling"
+            ],
+            "semantic_description": "Thick rounded blue plastic rim with a hard smooth slightly glossy finish, circling the top opening as a reinforced lip above the bucket body.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a61f69257cb5990f1fb7757962efc6c5ff7a1fe66da00e1b2926f1fe8f5a738f
+size 2444704