Add asset bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09

.gitattributes

@@ -8096,3 +8096,4 @@ dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/affordance/mes
 dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/affordance_annot.json

@@ -0,0 +1,54 @@
+{
+    "affordances": [
+        {
+            "part_name": "zippered medical pouch case",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the case body from the sides to pick up and carry the pouch",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the case body to stabilize it while opening the zipper",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "clamp the case body to reposition or place it into storage",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain medical supplies",
+                "protect stored contents",
+                "provide main grasp surface",
+                "support transport",
+                "stabilize during opening"
+            ],
+            "semantic_description": "Compact rectangular hard-shell zippered pouch with green, tan, and black camouflage fabric, matte textile finish, slightly coarse woven texture, rounded edges, webbing loops and buckle-like attachment points around the sides, a small fabric carry handle, and a top patch showing a red cross on white.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.8015591502189636,
+                    "position": [
+                        -0.09323240187950432,
+                        0.2131663877516985,
+                        -0.007439245702698827
+                    ],
+                    "orientation": {
+                        "w": 0.5952147629675406,
+                        "xyz": [
+                            0.3822933911691457,
+                            0.5739999134877056,
+                            -0.41242605195355486
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42933d09ac77ba1549c5305eb3830e05b5580311999a7d41f4a3dfba24208ff2
+size 3827304

dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>