Add asset bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26

.gitattributes

@@ -6057,3 +6057,4 @@ dataset/bedroom_supplies/storage/d6c2f62be05d5f9682c279f52adda540/affordance/mes
 dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/affordance/affordance_annot.json

@@ -0,0 +1,152 @@
+{
+    "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": 0.87
+                },
+                {
+                    "scenario": "hold the side of the bucket to stabilize it while filling or pouring",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support side gripping",
+                "enclose stored material"
+            ],
+            "semantic_description": "Large tapered purple plastic bucket body with a slightly glossy smooth hard surface, forming the main cylindrical container walls and occupying most of the object's height.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.12752747535705566,
+                    "position": [
+                        -0.04670723318122327,
+                        -0.09357185382395983,
+                        -0.26350985653698444
+                    ],
+                    "orientation": {
+                        "w": 0.7734117009101512,
+                        "xyz": [
+                            0.057465573597156164,
+                            0.04571763476362767,
+                            0.6296363606225707
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or drag the bucket short distances",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bucket during pouring or placement",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "reinforce opening",
+                "provide top gripping edge",
+                "define opening",
+                "stabilize container mouth"
+            ],
+            "semantic_description": "Thick rounded purple plastic rim with a glossy smooth hard finish, encircling the top opening as a prominent reinforced lip.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior cavity",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold contents",
+                "provide storage volume",
+                "receive poured material"
+            ],
+            "semantic_description": "Open inner basin of the purple bucket, appearing smooth with curved walls that form the container's storage space near the top center.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support bucket on surfaces",
+                "stabilize upright placement",
+                "close the container bottom"
+            ],
+            "semantic_description": "Flat circular purple bottom surface at the underside of the bucket, with a smooth hard finish and sized to support the bucket's weight.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bail handle",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the curved handle to lift and carry the bucket",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to tilt or pour the bucket",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "carry bucket",
+                "transfer lifting load",
+                "enable tilting for pouring"
+            ],
+            "semantic_description": "Curved thin bail handle arching between the two side mounts near the rim, appearing as a dark metal wire with a smooth rounded profile.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle mount",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the handle",
+                "transfer handle load to body",
+                "provide side attachment point"
+            ],
+            "semantic_description": "Small protruding purple plastic side lug with a smooth hard finish, mounted near the upper sidewall as one of the handle attachment points.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle mount",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the handle",
+                "transfer handle load to body",
+                "provide side attachment point"
+            ],
+            "semantic_description": "Small protruding purple plastic side lug with a smooth hard finish, mounted near the upper sidewall opposite the other attachment point.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle mask color and description are wrong; handle is purple plastic, not dark metal wire."
+    }
+}

dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e2586e8a5e6c6c7e68794cb24c971314fbfaa89672fcfd6fd88e3897342a31
+size 2631060