Add asset bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03

.gitattributes

@@ -8093,3 +8093,4 @@ dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mes
 dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body housing",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of the main housing to pick up and move the device",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the housing steady while interacting with the front opening or top control area",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "support all other parts",
+                "provide main grasp surface",
+                "protect internal mechanism"
+            ],
+            "semantic_description": "Large rounded-corner cube-like housing in dark navy or black plastic with a mostly matte smooth surface, covering the sides, back, and much of the top of the device; white printed markings are visible on one side.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front frame and opening",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the front access opening",
+                "support the transparent front cover/window region",
+                "frame the viewing area",
+                "help retain and present the interior dispensing area"
+            ],
+            "semantic_description": "Light gray or silver front bezel/frame surrounding the front face, with rounded rectangular shape and smooth finish; it borders the dark transparent front window/opening area and is visible as the lighter front section of the device.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top control area",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "contact the circular top control area for fine interaction such as pressing or turning",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "use a careful top pinch on the rim only for minor reorientation, not full lifting",
+                    "confidence": 0.2
+                }
+            ],
+            "functional_labels": [
+                "provide user control interface",
+                "enable adjustment or activation",
+                "mark the top interaction point"
+            ],
+            "semantic_description": "Circular black top insert centered on the top surface, surrounded by a bright cyan illuminated ring with small cyan markings, appearing smooth and glossy and slightly recessed or flush-mounted.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "internal dispensing area",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold or guide small internal items",
+                "support dispensing or presentation of contents",
+                "form interior interaction features"
+            ],
+            "semantic_description": "Small internal features visible through the front window, including several capsule-like or peg-like items and a narrow ledge or tray near the lower front interior.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front part description/function mismatches mask; green interior is visible contents, not fixed part."
+    }
+}

dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:160edff142e65b34b6ac284bfe20142f95d4c9ffdb083fe1c51b6843ab97f25b
+size 3783468

dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/pill_organizer_018.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>NO: {"summary":"Front dispensing face is merged with housing; internal pills are incorrectly segmented as parts.","merge_groups":[]}</PartSegChecker>