Add asset bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b

.gitattributes

@@ -8052,4 +8052,4 @@ dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mes
 dataset/bedroom_supplies/storage/709fd558307f548aa95a737a4fc364d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/70b2e8bc787a5fd0835e1fbaeaaa1d87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/affordance/affordance_annot.json

@@ -0,0 +1,140 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bucket body from the sides to lift or move the empty bucket",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the body to stabilize the bucket while filling or pouring",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch the upper sidewall to reorient the bucket on a surface",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain liquids or materials",
+                "provide the main structure",
+                "support side grasping",
+                "stabilize the bucket during use"
+            ],
+            "semantic_description": "Large tapered orange plastic shell with a smooth slightly glossy hard surface, forming the main container walls and base with shallow circumferential reinforcing bands around the midsection.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bucket rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the thick top rim to pick up or reposition the bucket",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the rim to steady the bucket while pouring contents",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pinch the rim to rotate the bucket for alignment",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide a top gripping edge",
+                "define the mouth of the bucket",
+                "support pouring control"
+            ],
+            "semantic_description": "Thick circular orange plastic lip at the top opening, with a smooth glossy hard finish and rounded edge that reinforces the mouth of the bucket.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_47": {
+                    "confidence": 0.22240965068340302,
+                    "position": [
+                        0.20341515634208918,
+                        -0.10615960392169654,
+                        0.16147205245215446
+                    ],
+                    "orientation": {
+                        "w": 0.43142992229074384,
+                        "xyz": [
+                            -0.7032021376632852,
+                            -0.4505954382243561,
+                            0.34108463288367263
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bucket handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wire handle to carry the bucket while suspended",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the handle upward to lift the bucket off the ground",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to tilt and pour the bucket",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "carry the bucket",
+                "lift the bucket when loaded",
+                "suspend the bucket from the side pivots",
+                "assist tilting for pouring"
+            ],
+            "semantic_description": "Thin curved metal wire handle looping between side lugs near the upper sides of the bucket, with a smooth hard surface and narrow rod-like shape.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_19": {
+                    "confidence": 0.49133071303367615,
+                    "position": [
+                        -0.0022497670724987984,
+                        -0.15892737987451255,
+                        0.206706985947676
+                    ],
+                    "orientation": {
+                        "w": 0.04622130850272163,
+                        "xyz": [
+                            -0.7264806484114892,
+                            0.6834982082024826,
+                            0.05403385520129045
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior bottom area",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the interior base surface",
+                "support contained contents",
+                "indicate the visible inside bottom area"
+            ],
+            "semantic_description": "Small visible orange area at the inside bottom of the bucket near the center, smooth and slightly glossy, appearing as part of the interior base rather than a separate component.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30c439c1e9c6c340e68af6570011991a0eb2dd0bf8e7e2bb5c21047cd9e266a6
+size 2781796