Add asset bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68

.gitattributes

@@ -8087,4 +8087,4 @@ dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mes
 dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/affordance_annot.json

@@ -0,0 +1,195 @@
+{
+    "affordances": [
+        {
+            "part_name": "main case body",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the case body from the sides to pick up the box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while manipulating the front latch",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support attached hardware",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large light gray hard case body made of rigid material, with a matte slightly worn finish, broad curved panels, and forming the main container.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top end caps / lid edge bands",
+            "mask_color": "Dark Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover and reinforce lid end edges",
+                "protect top edges",
+                "provide decorative trim"
+            ],
+            "semantic_description": "Dark brown curved bands covering the left and right end edges of the rounded lid, appearing leather-like or coated, with a smooth semi-matte finish.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the front latch to open the case",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold and align the latch while closing and securing the lid",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "lock the lid",
+                "release the lid",
+                "secure closure"
+            ],
+            "semantic_description": "Small brass-colored metal clasp at the front center with a slightly glossy worn finish, hard smooth surface, and compact protruding shape used to fasten the lid.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front handle strap anchor",
+            "mask_color": "Dark Slate Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the top handle strap",
+                "connect strap hardware to the case front",
+                "reinforce strap attachment"
+            ],
+            "semantic_description": "Narrow vertical brown strap-like anchor near the upper front sides beneath the handle, with attached brass-toned hardware and a smooth finished surface.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protector",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "absorb wear",
+                "reinforce edges"
+            ],
+            "semantic_description": "Small beige corner cap made of metal or hard material with a dull worn finish, smooth rounded shape, positioned at the case corners to guard impacts.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side gear ornament",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the case",
+                "suggest mechanical theme",
+                "provide visual detail"
+            ],
+            "semantic_description": "Small brass-toned gear-like ornamental piece on the side faces, made of metal with a reflective worn finish, hard smooth texture, and shallow protruding shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small side accent",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the case",
+                "provide visual detail",
+                "indicate themed styling"
+            ],
+            "semantic_description": "Small brass or gold-toned accent on the upper side area, with a metallic satin finish, smooth surface, and small irregular shape.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front oval window",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display decorative insert",
+                "cover front opening",
+                "provide visual interest"
+            ],
+            "semantic_description": "Large oval pale blue to light gray glass-like window on the lower front panel with a glossy smooth surface, set in the front assembly.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front window frame",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "border the window",
+                "protect the window edge",
+                "provide decorative trim"
+            ],
+            "semantic_description": "Brass-colored oval trim ring around the front oval window, metallic with a slightly glossy worn finish, smooth hard texture, and moderate thickness.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "round front ornament",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the front",
+                "suggest instrument detail",
+                "provide visual focal point"
+            ],
+            "semantic_description": "Small circular brass-colored ornament on the front panel with a worn metallic sheen, hard smooth surface, and compact raised form among the decorative details.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side rivet or fastener",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten attached hardware",
+                "reinforce joints",
+                "provide small mechanical detail"
+            ],
+            "semantic_description": "Very small dark metal fastener-like detail near the upper side edge, with a dull finish, hard smooth texture, and minimal protrusion.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front cylindrical ornament",
+            "mask_color": "Dark Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide mechanical detail",
+                "decorate the front assembly",
+                "suggest pipe-like styling"
+            ],
+            "semantic_description": "Small brass-toned cylindrical protruding ornament on the lower front hardware, metallic with a worn satin sheen, hard smooth texture, and short horizontal form.",
+            "id": 30,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified or described incorrectly; major missing handle strap and incorrect decorative/window labels."
+    }
+}

dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4642fc59c18380aee2c9f8a7b86d927a76b204ca9115df596aeca50a2402e9
+size 3834044

dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>12</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>NO: {"summary":"Segmentation misses key functional parts and mixes decorative patches; only limited cleanup by merging is supported.","merge_groups":[{"colors":["Blue","Cyan"],"target_part":"top strap attachments","reason":"same repeated top hardware points"},{"colors":["Dark Red","Lawn Green"],"target_part":"main case body","reason":"red appears as body-edge fragments"},{"colors":["Violet","Indigo"],"target_part":"front latch/trim assembly","reason":"same front hardware split across colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>