Add asset bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5

.gitattributes

@@ -8090,3 +8090,4 @@ dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mes
 dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/9a97f8d31ea85e8dae503162408e94b5.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/9a97f8d31ea85e8dae503162408e94b5/affordance/affordance_annot.json

@@ -0,0 +1,60 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls from opposite sides to pick up or move the bucket",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the upper rim and body to stabilize and reposition the bucket",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "support the body while loading or unloading contents",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "provide main structure",
+                "support the base and side walls",
+                "offer a primary grasp surface",
+                "stabilize contents"
+            ],
+            "semantic_description": "Large open-top brown bucket body with a wood-like woven or ribbed surface texture, matte to slightly satin finish, rounded rectangular profile, and a broad hollow interior forming the main container. A decorative stack of small tan logs is attached on one exterior side.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small plant marker stake",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the thin upright stake to orient or lightly reposition the empty bucket",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp the small marker while inspecting or adjusting the attached label-like top",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "mark or label the bucket contents",
+                "provide a decorative accent",
+                "indicate orientation"
+            ],
+            "semantic_description": "Small thin upright dark brown stake attached near the rim, with a narrow rod-like shaft and a small triangular flag or label shape at the top, protruding above the bucket edge.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red part is a tiny decorative stake, not a useful grasp point; body description also wrongly claims attached tan logs are part of blue mask."
+    }
+}

dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9224af463eb2890a1d1b8375a9a4dafdf7d1bd195b5465e27fba67fadf04273
+size 2994668