Add asset bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9

.gitattributes

@@ -5961,3 +5961,4 @@ dataset/bedroom_supplies/storage/0de08fd102fb5eb8b0c4fe5274645d55/affordance/mes
 dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/affordance/affordance_annot.json

@@ -0,0 +1,261 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up or reposition the empty bucket",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the body to stabilize the bucket while another tool interacts with it",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the body during pouring or dumping motions",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "form the main structure",
+                "provide side support",
+                "offer a general grasp surface"
+            ],
+            "semantic_description": "Large tapered yellow plastic body with a hard smooth slightly glossy surface, cylindrical shape widening toward the top, occupying most of the bucket and forming the sidewalls and interior container.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_52": {
+                    "confidence": 0.7393418550491333,
+                    "position": [
+                        -0.05063739186152816,
+                        0.1627482937183231,
+                        0.21535447053611279
+                    ],
+                    "orientation": {
+                        "w": 0.08918335881628932,
+                        "xyz": [
+                            0.5416712498523422,
+                            0.8352497777922269,
+                            -0.03156571386302842
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.5231233835220337,
+                    "position": [
+                        0.1231162273325026,
+                        -0.13224311009980738,
+                        0.21313129179179668
+                    ],
+                    "orientation": {
+                        "w": 0.0705169775063368,
+                        "xyz": [
+                            -0.32134647956665535,
+                            -0.9442530703862148,
+                            -0.012244795616665203
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.4384070336818695,
+                    "position": [
+                        -0.12194926803931594,
+                        -0.11243145004846156,
+                        0.21671543829143047
+                    ],
+                    "orientation": {
+                        "w": 0.04144847080020058,
+                        "xyz": [
+                            -0.33822363727999577,
+                            0.9388427628927447,
+                            0.049609092083327026
+                        ]
+                    }
+                },
+                "grasp_64": {
+                    "confidence": 0.4375471770763397,
+                    "position": [
+                        -0.10264129703864455,
+                        -0.14629366830922663,
+                        0.20975999347865582
+                    ],
+                    "orientation": {
+                        "w": 0.09840364467232321,
+                        "xyz": [
+                            -0.5591082222317325,
+                            0.8230545235548337,
+                            -0.017203772958286505
+                        ]
+                    }
+                },
+                "grasp_67": {
+                    "confidence": 0.40013131499290466,
+                    "position": [
+                        -0.13075408106669784,
+                        0.08367233141325414,
+                        0.21265961043536663
+                    ],
+                    "orientation": {
+                        "w": 0.03304519472086053,
+                        "xyz": [
+                            0.2790386324853902,
+                            0.9522044922571691,
+                            0.11980009019950637
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bucket bottom",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from below to lift or support the bucket",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "push or stabilize the bucket by contacting the bottom surface",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide standing base",
+                "close the container bottom",
+                "stabilize on flat surfaces"
+            ],
+            "semantic_description": "Flat round yellow plastic base with a hard smooth slightly glossy finish, located at the bottom and sized smaller than the top opening, serving as the bucket's support surface.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.1855652928352356,
+                    "position": [
+                        0.040567988995462656,
+                        -0.07903453544713557,
+                        -0.22627581842243671
+                    ],
+                    "orientation": {
+                        "w": 0.7220331335712824,
+                        "xyz": [
+                            -0.04684327507450918,
+                            -0.18491591574845045,
+                            0.6650413263162228
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.18298901617527008,
+                    "position": [
+                        -0.020491890143603086,
+                        -0.07268361584283412,
+                        -0.2309631872922182
+                    ],
+                    "orientation": {
+                        "w": 0.8468790125881835,
+                        "xyz": [
+                            0.02163169463307954,
+                            0.30568791163492315,
+                            -0.4346066135084045
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift or reposition the bucket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the rim to steady the bucket during filling or emptying",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide an upper grip edge",
+                "maintain opening shape",
+                "protect the lip of the container"
+            ],
+            "semantic_description": "Raised circular yellow-orange plastic lip with a hard smooth slightly glossy finish running around the top opening, thicker than the sidewall and visually reinforcing the bucket edge.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle lug",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lug to rotate or slightly reposition the bucket",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the lug to stabilize the bucket near the rim",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "provide a molded attachment point",
+                "reinforce the side near the rim",
+                "offer a small secondary grip feature"
+            ],
+            "semantic_description": "Small yellow plastic triangular loop-like lug with a smooth slightly glossy surface, attached near the upper sidewall just below the rim on one side of the bucket.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle lug",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lug to rotate or slightly reposition the bucket",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the lug to stabilize the bucket near the rim",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "provide a molded attachment point",
+                "reinforce the side near the rim",
+                "offer a small secondary grip feature"
+            ],
+            "semantic_description": "Small yellow plastic triangular loop-like lug with a smooth slightly glossy surface, attached near the upper sidewall just below the rim on the opposite side of the bucket.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.674004316329956,
+                    "position": [
+                        -0.026122485753148794,
+                        -0.17541539506055415,
+                        0.22168503515422344
+                    ],
+                    "orientation": {
+                        "w": 0.04833204795556524,
+                        "xyz": [
+                            -0.644098937005943,
+                            0.7632760960751617,
+                            0.014497366950419786
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a34dbf5f280ac7e2f0dd35669b16791aa14a41f054bff3641dd8459cfac9f8
+size 2336976