Add asset desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18

.gitattributes

@@ -6110,4 +6110,5 @@ dataset/desktop_supplies/decorations/440e5b0b92775001b0581a82098178ef/affordance
 dataset/desktop_supplies/decorations/4587be1e229e56c0871a9f122bc405d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/49188a1b75735ac79bb0c396ac871943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/4bbdd8c7e6c553f597dcf27265656b18.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.531406402587891</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Board and nearly all pieces are merged; colored spots mark arbitrary pieces, not functional parts.","merge_groups":[]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <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>
    </custom_data>
 </robot>

dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance/affordance_annot.json

@@ -0,0 +1,154 @@
+{
+    "affordances": [
+        {
+            "part_name": "chessboard",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the board edges to lift and carry the chessboard with pieces on it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the board from opposite sides to reposition it on a table",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp a board corner or side to rotate and align the set",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the chess pieces",
+                "provide the playing grid",
+                "stabilize the set",
+                "enable lifting and repositioning"
+            ],
+            "semantic_description": "Large square wooden chessboard in warm brown and cream tones with a smooth semi-gloss finish, flat gridded top surface, coordinate markings along the border, and slightly beveled edges.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.5413635969161987,
+                    "position": [
+                        -0.1161636020988226,
+                        -0.2671913201920688,
+                        0.019697245210409164
+                    ],
+                    "orientation": {
+                        "w": 0.30406537284783386,
+                        "xyz": [
+                            -0.623770358625945,
+                            -0.6237468001130314,
+                            -0.35971477323474166
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "dark chess piece",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and move the dark piece to another square during play",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the piece from its top and body to remove it from the board",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the piece to set up or reset the board",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "represent a dark-side chess piece",
+                "enable gameplay moves",
+                "indicate piece occupancy",
+                "support board setup"
+            ],
+            "semantic_description": "Small polished dark brown wooden chess piece with a smooth hard surface, upright turned profile, and compact size standing on a single square.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light chess piece",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and move the light piece to another square during play",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the piece to remove a captured piece from the board",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the piece while arranging the starting position",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent a light-side chess piece",
+                "enable gameplay moves",
+                "indicate piece occupancy",
+                "support board setup"
+            ],
+            "semantic_description": "Small light cream or ivory-colored chess piece with a smooth polished finish, hard texture, rounded turned shape, and compact upright form occupying a single board square.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light chess piece",
+            "mask_color": "Dark Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and move the piece to another square during play",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the piece to straighten or stabilize it on its square",
+                    "confidence": 0.65
+                },
+                {
+                    "scenario": "pick up the piece during setup or storage",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "represent a light-side chess piece",
+                "enable gameplay moves",
+                "indicate piece occupancy",
+                "support board setup"
+            ],
+            "semantic_description": "Small light cream-colored chess piece with a smooth polished wooden surface, simple upright turned form, and compact size positioned on the board.",
+            "id": 30,
+            "grasp_group": {
+                "grasp_43": {
+                    "confidence": 0.9175822734832764,
+                    "position": [
+                        0.038004083558917046,
+                        0.2718609874136746,
+                        -0.03803607169538736
+                    ],
+                    "orientation": {
+                        "w": 0.5168069200849463,
+                        "xyz": [
+                            0.48779737563781367,
+                            -0.5082993486732076,
+                            0.4864114511517657
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-part identities are wrong: red and yellow are specific pieces, dark green is not a light piece."
+    }
+}

dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b6c8ef83a9f5052093d01519e0ebabddae25bd2e234da38d02bb083e4068f7
+size 1546092