Add asset bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b

.gitattributes

@@ -6008,3 +6008,4 @@ dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/affordance/mes
 dataset/bedroom_supplies/storage/3d501d25fa575432a09b39ef0fa16f56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the case after unzipping",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the lid to stabilize the case while operating the zipper",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect stored items",
+                "provide top opening section",
+                "mate with zipper closure"
+            ],
+            "semantic_description": "Large light blue top panel of the case with a smooth semi-rigid plastic shell, rounded rectangular shape, shallow raised border lines, and a centered circular raised patch.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top circular patch",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a central raised feature",
+                "decorate the lid center",
+                "serve as a tactile reference point"
+            ],
+            "semantic_description": "Small round light blue raised patch centered on the lid, with a smooth plastic surface and low domed profile.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front zipper pull tab",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the zipper pull tab to start opening or closing the zipper",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the pull tab briefly to position the case front near the zipper start",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "provide a zipper pull",
+                "help start zipper motion",
+                "mark the zipper start area"
+            ],
+            "semantic_description": "Small light-colored zipper pull tab centered on the front closure area, attached to the zipper slider, with a short flat tab shape and a small metallic slider piece below it.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from the sides to pick up the case",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the base to stabilize the case while unzipping",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the case",
+                "provide main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Bulky light blue lower half of the case with a smooth semi-rigid plastic exterior, rounded rectangular tub shape, and white printed branding on one side.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.05274936929345131,
+                    "position": [
+                        0.01870654127560556,
+                        -0.03469989349832758,
+                        0.11691539260209538
+                    ],
+                    "orientation": {
+                        "w": 0.07281643611593291,
+                        "xyz": [
+                            0.9967701658543198,
+                            -0.007294179212839966,
+                            -0.033072617733362696
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "zipper track",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join lid to base",
+                "guide zipper motion",
+                "close the case perimeter",
+                "provide closure interface"
+            ],
+            "semantic_description": "Thin zipper band running around the case perimeter between lid and base, appearing teal-blue with visible zipper teeth and a narrow border.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim band",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the case edge",
+                "separate lid and base visually",
+                "support closure alignment"
+            ],
+            "semantic_description": "Narrow pale light blue band around the upper side edge, following the case perimeter as a thin trim between the lid and zipper area.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "zipper slider body",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage zipper teeth",
+                "translate pull-tab force into zipper motion",
+                "control opening position"
+            ],
+            "semantic_description": "Tiny dark metallic zipper slider located near the front closure area, with a reflective finish and compact blocky shape.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed logo",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand the product",
+                "provide visual identification",
+                "mark one side of the case"
+            ],
+            "semantic_description": "Small white printed logo and text on the lower side wall, flat against the light blue exterior and visible as high-contrast markings.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Zipper slider body is graspable and rim band function/description are inaccurate."
+    }
+}

dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13821ab48277ff8471a5e25a7b525f353fc03092091000bf0539d2f61eaa5ed7
+size 3785244

dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/pill_organizer_028.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>YES</PartSegChecker>