Add asset bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6

.gitattributes

@@ -8106,4 +8106,4 @@ dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/affordance/mes
 dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/b256b4860fa250c79cd26d7af5f0319b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6/affordance/affordance_annot.json

@@ -0,0 +1,147 @@
+{
+    "affordances": [
+        {
+            "part_name": "pill organizer body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up and carry the organizer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening the lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp a lower side or corner to reposition the organizer on a shelf",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored pills",
+                "form the main structure",
+                "support the lid and zipper",
+                "provide grasping surface",
+                "rest on flat surfaces"
+            ],
+            "semantic_description": "Large rectangular light gray fabric body with a matte woven finish, soft-sided but structured texture, rounded corners, and stitched seam lines on the sides.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the closed lid surface to steady the organizer during zipper operation",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "pinch the lid edge to lift and open after unzipping",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect stored pills",
+                "provide top closure surface",
+                "form the top panel beneath the handles"
+            ],
+            "semantic_description": "Flat off-white top panel made of woven fabric with a matte finish, soft lightly textured surface, and a slightly padded rectangular shape covering the organizer opening.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.543644368648529,
+                    "position": [
+                        0.08550754698808305,
+                        -0.0646821497939527,
+                        0.17435071198269725
+                    ],
+                    "orientation": {
+                        "w": 0.20094877905343336,
+                        "xyz": [
+                            0.6906336234957934,
+                            -0.6845346483604949,
+                            -0.11856264794604915
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "zipper track",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the zipper edge to stabilize the case while the slider is pulled",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp along the rim to help orient the organizer",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "open and close the case perimeter",
+                "seal the lid to the body",
+                "define the lid-body boundary",
+                "guide zipper sliders"
+            ],
+            "semantic_description": "Narrow medium-gray zipper band running around the upper perimeter, likely textile with plastic teeth, matte and slightly ribbed, forming a continuous rim between lid and body.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "carry handles",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the paired top handles to lift and carry the organizer",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handles to suspend and reposition the organizer",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "pull the handles to drag the organizer slightly across a surface",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the organizer",
+                "help reposition the case",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Two cream-colored fabric webbing handles with a matte woven texture, soft but sturdy, arching over the top center and joined by a wrap for carrying.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_59": {
+                    "confidence": 0.6169940829277039,
+                    "position": [
+                        0.0038786371878813952,
+                        0.04360087448731065,
+                        0.22077812580391765
+                    ],
+                    "orientation": {
+                        "w": 0.278035123489313,
+                        "xyz": [
+                            0.9605336508545507,
+                            0.002548813191317112,
+                            -0.00806717011266183
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Body identity/function wrong; object is a medical first-aid bag, not pill organizer."
+    }
+}

dataset/bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3941933a923d228da9963f90bd93de39f779cff4466569301aacae12916a7fe8
+size 3827484

dataset/bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6/pill_organizer_010.urdf

@@ -54,6 +54,7 @@
                <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":"Top panel and handles are over-segmented; latch fragments are nonfunctional noise.","merge_groups":[{"colors":["Magenta","Maroon"],"target_part":"lid/top assembly","reason":"Top surface and carry straps form one usable lid assembly"},{"colors":["Blue","Teal"],"target_part":"zipper rim/closure edge","reason":"Small blue latch bits are just closure-edge fragments"}]}</PartSegChecker>