Add asset bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31

.gitattributes

@@ -8082,4 +8082,4 @@ dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mes
 dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/affordance_annot.json

@@ -0,0 +1,173 @@
+{
+    "affordances": [
+        {
+            "part_name": "main mesh body panels",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side panel areas to stabilize or reposition the case over a short distance",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "support the case by a broad side panel while setting it down or turning it",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "form the main enclosure panels",
+                "contain stored items",
+                "provide broad stabilizing contact surfaces"
+            ],
+            "semantic_description": "Large rectangular black mesh-like panels forming the top and side enclosure surfaces between the corner frame members, with a dark matte textured appearance.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner frame and edge rails",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a rigid side frame rail to reposition the case",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a corner frame section to stabilize the case during opening or closing",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "protect corners",
+                "support the structure",
+                "serve as mounting locations for hardware"
+            ],
+            "semantic_description": "Thick black rounded frame pieces running along the edges and corners, likely hard plastic or coated metal, with a smooth matte finish and protective bumper-like shape.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front lower horizontal rail",
+            "mask_color": "Lawn Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the lower front edge",
+                "protect the front base perimeter",
+                "connect the lower front frame"
+            ],
+            "semantic_description": "A narrow black horizontal rail along the lower front edge beneath the front panel, rigid and smooth with a slim elongated form.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "casters",
+            "mask_color": "Dark Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on surfaces",
+                "allow rolling repositioning",
+                "provide ground contact",
+                "elevate the case slightly off the surface"
+            ],
+            "semantic_description": "Small black wheeled casters at the bottom corners, with compact rounded wheel shapes and hard smooth surfaces.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front handle",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to carry or lift the case",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull on the handle to roll the case closer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the handle to steady the case during manipulation",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "carry the case",
+                "pull the case",
+                "provide a dedicated grip",
+                "assist repositioning"
+            ],
+            "semantic_description": "Medium-sized curved black handle on the front face, likely plastic or coated metal, with a smooth matte finish and rigid loop shape sized for secure gripping.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front metal latches",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and operate a latch to open or close the case",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold a latch while engaging or disengaging the clasp",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "release the lid",
+                "fasten the front opening"
+            ],
+            "semantic_description": "Small silver metal latch hardware on the front edge with a reflective smooth finish, hard rigid construction, and compact angular shape.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side/base rail",
+            "mask_color": "Dark Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the lower side edge",
+                "protect the base perimeter",
+                "support the base structure"
+            ],
+            "semantic_description": "A thin black strip running along the lower side perimeter near the base, with a rigid elongated profile.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid rim trim",
+            "mask_color": "Midnight Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to lift and open the case",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the lid rim while closing it carefully",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide lid edge support",
+                "assist opening the lid",
+                "define the lid perimeter",
+                "protect the lid edge"
+            ],
+            "semantic_description": "A slim black border along the lid perimeter, likely rigid trim, with a narrow elongated form framing the top panel.",
+            "id": 31,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors/part identities mismatch; front lower rail and side/base rail are swapped, latches color wrong, handle color wrong."
+    }
+}

dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba460d1c68c85f907fbfa1dfeceddd49829f6e8c1935b6359e86ae41b7f102fa
+size 3758060

dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/jewelry_box_010.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>8</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":"Several same-surface frame/body regions are split by view-dependent colors; merge for actionable parts.","merge_groups":[{"colors":["Olive","Dark Red"],"target_part":"main box panels","reason":"same side/bottom shell split into arbitrary bands"},{"colors":["Jade","Midnight Blue","Gainsboro"],"target_part":"top rim/frame","reason":"same upper frame edges split into multiple colors"},{"colors":["Dark Orange","Sea Green","Lawn Green"],"target_part":"front hardware and lower trim","reason":"small adjacent hardware/trim pieces over-segmented"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>