Add asset bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0

.gitattributes

@@ -6063,3 +6063,4 @@ dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/affordance/mes
 dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/dfb77cf0a14855a2982543e83524625a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/affordance_annot.json

@@ -0,0 +1,217 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bucket sidewall to pick up or reposition the bucket, especially when empty or lightly loaded",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the bucket while another hand or tool manipulates the handle or contents",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain liquids or materials",
+                "form the main structural wall",
+                "provide side support",
+                "serve as a secondary grasp surface"
+            ],
+            "semantic_description": "Large tapered bright red plastic bucket body with a smooth slightly glossy surface, cylindrical form narrowing toward the base, and no obvious visible markings.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.2872650921344757,
+                    "position": [
+                        -0.013261919011711143,
+                        -0.1178788379766047,
+                        -0.2101858132518828
+                    ],
+                    "orientation": {
+                        "w": 0.4417136020586371,
+                        "xyz": [
+                            0.16922713340171314,
+                            -0.220144340782218,
+                            -0.8531047651364895
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.2574157118797302,
+                    "position": [
+                        0.010224602083326317,
+                        -0.09833270171657205,
+                        -0.2103977524675429
+                    ],
+                    "orientation": {
+                        "w": 0.5101024321385532,
+                        "xyz": [
+                            0.24379477812625985,
+                            -0.11506299772463491,
+                            -0.8167742169285961
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.22761428356170654,
+                    "position": [
+                        -0.0887000710790744,
+                        -0.049436105880886316,
+                        -0.22625734144821763
+                    ],
+                    "orientation": {
+                        "w": 0.44802068545976936,
+                        "xyz": [
+                            -0.019028927683236187,
+                            0.0826578565154783,
+                            -0.8899904741443313
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.22444412112236023,
+                    "position": [
+                        -0.03851303840929177,
+                        -0.07863160828128457,
+                        -0.22226315969601274
+                    ],
+                    "orientation": {
+                        "w": 0.5767502671592214,
+                        "xyz": [
+                            0.08004662123570251,
+                            0.05614560613853792,
+                            -0.8110482961401566
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.213211789727211,
+                    "position": [
+                        -0.09628817449265625,
+                        -0.035573181230574846,
+                        -0.21284717554226518
+                    ],
+                    "orientation": {
+                        "w": 0.5142605766402087,
+                        "xyz": [
+                            -0.032096919316409164,
+                            0.25758161109102584,
+                            -0.8174090534804638
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base of bucket",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bucket upright",
+                "close the bottom",
+                "stabilize contents when placed on a surface"
+            ],
+            "semantic_description": "Flat circular bottom panel at the underside of the bucket, appearing bright red in the RGB views with a smooth slightly glossy plastic finish and broad contact area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle hinge lug",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor one end of the handle",
+                "provide a pivot connection",
+                "transfer lifting load from the handle to the bucket body"
+            ],
+            "semantic_description": "Small bright red plastic side lug near the upper rim, with a smooth slightly glossy surface and compact protruding shape where the handle attaches.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper side band",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side band near the opening to lift or reposition the empty bucket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the upper side band to steady the bucket during placement or pouring",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "stiffen the upper wall",
+                "reinforce the opening area",
+                "provide a higher grip region",
+                "support the bucket's top structure"
+            ],
+            "semantic_description": "Wide bright red plastic band around the upper outside of the bucket, just below the top edge, with a smooth slightly glossy finish and rounded cylindrical contour.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the bucket",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "pull the handle to reposition the bucket across a surface",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the handle to tilt the bucket while pouring",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "carry the bucket",
+                "lift the bucket",
+                "tilt for pouring",
+                "hang or suspend the bucket"
+            ],
+            "semantic_description": "Thin curved metal wire handle with a smooth surface, arcing between the two side lugs as a movable carrying loop; it appears red-coated or strongly red-tinted in the images.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the empty bucket from above",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the rim to steady the bucket during pouring or placement",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening edge",
+                "define the top opening",
+                "provide a gripping edge",
+                "help the bucket retain its circular shape"
+            ],
+            "semantic_description": "Narrow rounded bright red plastic rim at the very top edge of the bucket, with a smooth slightly glossy finish forming the uppermost boundary of the opening.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle lug and handle mask colors/identities are mismatched; handle description color is wrong."
+    }
+}

dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da08fa4f41b9dd773b76e5c1e9f0f2f1476435cfa698904f32e47c789344effa
+size 2729820