Add asset desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d

.gitattributes

@@ -6155,3 +6155,4 @@ dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/affordance
 dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d80343181be75d479bb0db2cc96bc963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/affordance/affordance_annot.json

@@ -0,0 +1,716 @@
+{
+    "affordances": [
+        {
+            "part_name": "playing surface",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the outer edge of the board at the top surface and side wall to lift or reposition the chessboard",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "stabilize the board by holding a corner edge while placing or adjusting it on a table",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "provide chess playing surface",
+                "define square grid layout",
+                "support chess pieces",
+                "enable piece placement"
+            ],
+            "semantic_description": "Large flat top surface of the chessboard with alternating black and cream squares, likely wood or laminated composite, smooth and hard with a slight sheen.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "board base",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sloped side of the base to lift and carry the chessboard",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch a lower corner of the base to reposition the board on a table",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support board structure",
+                "elevate playing surface",
+                "provide rigid frame",
+                "stabilize on tabletop"
+            ],
+            "semantic_description": "Thick dark charcoal-to-black rectangular base beneath the board, with sloped beveled sides and a smooth hard matte-to-satin surface.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_143": {
+                    "confidence": 0.39257004857063293,
+                    "position": [
+                        -0.08017890551127493,
+                        -0.2615634356625378,
+                        0.05014959163963795
+                    ],
+                    "orientation": {
+                        "w": 0.3084334739590477,
+                        "xyz": [
+                            -0.691860871418758,
+                            -0.594680685311306,
+                            -0.26935517306876783
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_156": {
+                    "confidence": 0.7974574565887451,
+                    "position": [
+                        -0.27550471224822104,
+                        -0.02915716962888837,
+                        0.009760217741131783
+                    ],
+                    "orientation": {
+                        "w": 0.6348454838700684,
+                        "xyz": [
+                            0.02093375611005954,
+                            0.7722927008851134,
+                            0.0098475186966226
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_234": {
+                    "confidence": 0.7305585741996765,
+                    "position": [
+                        -0.0276629610452801,
+                        -0.2858174000866711,
+                        0.021789951249957085
+                    ],
+                    "orientation": {
+                        "w": 0.39861091942510135,
+                        "xyz": [
+                            -0.588461690163715,
+                            -0.5850512875758439,
+                            -0.3905600658421014
+                        ]
+                    }
+                },
+                "grasp_235": {
+                    "confidence": 0.514063835144043,
+                    "position": [
+                        -0.023647653171792626,
+                        -0.2835402940399945,
+                        0.04474391229450703
+                    ],
+                    "orientation": {
+                        "w": 0.3422086918584165,
+                        "xyz": [
+                            -0.6090152867843954,
+                            -0.6307213750760235,
+                            -0.3379114361806684
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 24,
+            "grasp_group": {
+                "grasp_363": {
+                    "confidence": 0.6754319071769714,
+                    "position": [
+                        0.02668322599492967,
+                        -0.289878920186311,
+                        0.01738964207470417
+                    ],
+                    "orientation": {
+                        "w": 0.4178689627609286,
+                        "xyz": [
+                            -0.5739331073948727,
+                            -0.577659822679604,
+                            -0.40285909131970693
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chess piece",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the individual chess piece from the sides to move it to another square",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the piece vertically to remove it from the board",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "represent game piece",
+                "enable chess moves",
+                "indicate board position",
+                "support gameplay interaction"
+            ],
+            "semantic_description": "Small upright wooden chess piece with a smooth turned form and polished hard surface; exact subtype and color shade are not clearly distinguishable from the views.",
+            "id": 25,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Chess pieces are too generically named; many segmented parts need specific piece identities rather than repeated 'chess piece'."
+    }
+}

dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025e6077163ac9cc0287fc205313c1918a62e18aa45d8ff7fcb8f3d199d7633f
+size 1507860

dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.493851661682129</ImageAestheticChecker>
          <overall>NO</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>26</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>