Add asset bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02

.gitattributes

@@ -6075,4 +6075,4 @@ dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mes
 dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ed7575c47304597cb04abe5e141f25f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f0460f36e00356eaa74734f876651285/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "case body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main case body from the sides to pick up the organizer",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening or closing",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "clamp the body to reposition or place it on a shelf",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support zipper closure",
+                "main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Large rectangular orange fabric case body with a soft padded form, matte finish, slightly wrinkled smooth textile texture, and rounded edges making up nearly the entire organizer.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.6323294639587402,
+                    "position": [
+                        0.003852483117952943,
+                        -0.016835974995046854,
+                        -0.1772264585888479
+                    ],
+                    "orientation": {
+                        "w": 0.9996680061743275,
+                        "xyz": [
+                            -0.01961781589855606,
+                            0.011575383460048716,
+                            0.01204280816785732
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cross patch panels",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press on the patch area lightly to steady the case while manipulating the zipper",
+                    "confidence": 0.32
+                }
+            ],
+            "functional_labels": [
+                "display medical cross symbol",
+                "mark the kit as first-aid related",
+                "provide a visible identification patch area"
+            ],
+            "semantic_description": "Flat rectangular orange inset panel areas on the broad faces of the case, each carrying a prominent red cross emblem with a white border; fabric-covered, matte, and slightly padded.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle and zipper hardware",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the organizer",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the zipper pull to open or close the case",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the handle to steady the case during manipulation",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "lift and carry",
+                "open the zipper",
+                "close the zipper",
+                "provide localized grip",
+                "assist orientation"
+            ],
+            "semantic_description": "Black webbing handle with dark zipper track and gray zipper pulls, featuring a matte finish, mixed soft strap and harder hardware materials, and a slightly ribbed strap texture along the top and edges.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow part misidentified; mask covers whole patch panels, not just cross symbols, and description color/details are wrong."
+    }
+}

dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:768118662d0af10e8936121b6f1c4b2a64ff2e00f80e72c798eb15cce464b021
+size 3820596

dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/pill_organizer_009.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":"Object/category mismatch; segmentation misses clear lid/body split and uses colors for decorations/hardware, not functional parts.","merge_groups":[{"colors":["Yellow","Brown"],"target_part":"main soft case body","reason":"Panels and surrounding shell are one continuous body"}]}</PartSegChecker>