Add asset bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476

.gitattributes

@@ -6048,4 +6048,4 @@ dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mes
 dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/affordance/affordance_annot.json

@@ -0,0 +1,204 @@
+{
+    "affordances": [
+        {
+            "part_name": "bucket bottom",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bucket upright",
+                "provide a stable base",
+                "close the container bottom"
+            ],
+            "semantic_description": "Flat circular pink plastic base with a smooth slightly glossy hard surface at the bottom of the bucket, broad and unmarked.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bucket body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bucket body from the sides to pick up or reposition the empty bucket",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the sidewall to stabilize the bucket while another tool interacts with the rim or handle",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the body to tilt or pour the bucket",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "form the main structure",
+                "provide side grasp surface",
+                "support carrying when combined with handle"
+            ],
+            "semantic_description": "Large tapered pink plastic bucket wall with a smooth slightly glossy hard surface, cylindrical-conical shape, and broad central position forming most of the container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.23587347567081451,
+                    "position": [
+                        -0.003451460332144052,
+                        -0.07948182034306228,
+                        -0.2205207534134388
+                    ],
+                    "orientation": {
+                        "w": 0.5328031725595729,
+                        "xyz": [
+                            0.2184120561187778,
+                            -0.1153526934434369,
+                            -0.8093890962743235
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.21345511078834534,
+                    "position": [
+                        -0.025920609303284436,
+                        -0.10406588274054229,
+                        -0.21524691954255104
+                    ],
+                    "orientation": {
+                        "w": 0.5900545637724005,
+                        "xyz": [
+                            0.07971390013359646,
+                            -0.1296026314704014,
+                            -0.7928962503460338
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.2125127613544464,
+                    "position": [
+                        -0.034698676608968526,
+                        -0.07325076567940414,
+                        -0.2298349030315876
+                    ],
+                    "orientation": {
+                        "w": 0.8666914769947685,
+                        "xyz": [
+                            0.03785615411747626,
+                            -0.05199829053781668,
+                            0.4946806778935336
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.19878196716308594,
+                    "position": [
+                        0.012981952808331698,
+                        -0.08670807140879333,
+                        -0.2187209613621235
+                    ],
+                    "orientation": {
+                        "w": 0.6221714850511961,
+                        "xyz": [
+                            0.20342714344178783,
+                            -0.12471078091825039,
+                            -0.7456321221775951
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.19657140970230103,
+                    "position": [
+                        -0.1169772784342058,
+                        -0.02870832639746368,
+                        -0.21902752295136452
+                    ],
+                    "orientation": {
+                        "w": 0.36481750941384605,
+                        "xyz": [
+                            -0.11274024086351966,
+                            0.19373344573249374,
+                            -0.9036952887559659
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bucket rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to lift or reposition the empty bucket",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bucket during pouring or inspection",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch near the rim to orient the bucket before placing it down",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide an edge for handling",
+                "define the top opening",
+                "help guide pouring"
+            ],
+            "semantic_description": "Rounded pink plastic top lip with a smooth slightly glossy hard finish, encircling the opening as a thicker ring at the bucket's upper edge.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bucket handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the swing handle to carry or lift the bucket",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hook or pinch the handle to pull the bucket closer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the handle to suspend or reposition the bucket while keeping the body clear",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "carry the bucket",
+                "lift the bucket",
+                "pull the bucket",
+                "hang the bucket when supported"
+            ],
+            "semantic_description": "Thin arched pink plastic handle with a smooth slightly glossy hard surface, attached near the rim on opposite sides and spanning over the bucket.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.00756372045725584,
+                    "position": [
+                        0.05662038893206045,
+                        -0.01540125790052116,
+                        0.12907187268137932
+                    ],
+                    "orientation": {
+                        "w": 0.67805799308999,
+                        "xyz": [
+                            -0.08581313109168011,
+                            0.7094947120486859,
+                            0.17172861763250066
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfafcdbce673d2583a5e35803cf61a7db30161beee69d9d12c74f2193a2c536b
+size 2815376