Add asset bedroom_supplies/storage/826e229f2fe452be956428d34de7406e

.gitattributes

@@ -8072,3 +8072,4 @@ dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/affordance/mes
 dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/826e229f2fe452be956428d34de7406e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/826e229f2fe452be956428d34de7406e/affordance/affordance_annot.json

@@ -0,0 +1,204 @@
+{
+    "affordances": [
+        {
+            "part_name": "main chest body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wooden body sides or lower front/back to lift and move the chest",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body to stabilize the chest while operating the front latch",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support hardware and trim",
+                "offer broad grasp surfaces"
+            ],
+            "semantic_description": "Large brown wooden body with visible wood grain and a mostly matte finish, forming the box structure and the curved lid surfaces across most of the exterior.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front panel edges to steady the chest during latch manipulation",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "use the lower front area for a light stabilizing hold while repositioning the chest",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "close the front of the compartment",
+                "support latch hardware",
+                "protect contents",
+                "form the front boundary"
+            ],
+            "semantic_description": "Brown wooden front panel beneath the latch area, with visible grain, a smooth hard surface, and placement across the lower front face under the curved lid.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side panel to carry or reposition the chest from the side",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the chest on a surface",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "enclose contents laterally",
+                "provide side support",
+                "maintain box rigidity",
+                "offer side grasp area"
+            ],
+            "semantic_description": "Brown wooden end panel with visible grain and a smooth hard surface, shaped as the rounded side wall beneath the curved top at each end of the chest.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "metal trim",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce edges",
+                "protect corners",
+                "secure wooden panels",
+                "provide decorative detailing"
+            ],
+            "semantic_description": "Light silver-gray metal edge bands and corner straps with a slightly reflective finish, running along lid edges, vertical corners, and panel boundaries.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to pull or carry the chest",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the handle to rotate or reposition the chest",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "assist pulling",
+                "aid repositioning"
+            ],
+            "semantic_description": "Small curved metallic drop handle with a warm copper to rose-gold tone and glossy reflective finish, mounted near the center of each side panel.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the chest",
+                "elevate the base",
+                "improve stability",
+                "reduce bottom contact"
+            ],
+            "semantic_description": "Short rounded brown wooden feet with visible wood tone and a smooth hard finish, located at the bottom corners to raise the chest off the surface.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rivet",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten trim",
+                "reinforce hardware attachment",
+                "provide decorative accents"
+            ],
+            "semantic_description": "Tiny round warm metallic rivets with a reflective finish, placed along the metal trim and corner straps as fastening points.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner bracket",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "strengthen corners",
+                "join trim sections",
+                "protect edge joints"
+            ],
+            "semantic_description": "Small metal corner tabs at trim junctions with a light metallic finish, located at panel corners and edge intersections.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "latch plate",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or press the latch plate while manipulating the front closure",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "secure the front closure",
+                "anchor the latch hardware",
+                "assist opening and closing"
+            ],
+            "semantic_description": "Small warm metallic latch plate with a glossy reflective finish, mounted at the center front where the lid meets the front panel.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "latch loop",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the hanging loop to open the chest",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pull the loop to verify the lid is secured",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "engage the latch",
+                "assist opening",
+                "assist securing the lid"
+            ],
+            "semantic_description": "Small U-shaped hanging metal loop with a shiny warm copper tone, attached below the central front latch.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main body wrongly includes lid; several mask colors and latch/handle identities are mismatched."
+    }
+}

dataset/bedroom_supplies/storage/826e229f2fe452be956428d34de7406e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3af29ae1f5542a7e9519c939eb6fde14cea166adf0585dccf621fb27d1e89be
+size 111580628

dataset/bedroom_supplies/storage/826e229f2fe452be956428d34de7406e/storage_box_006.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>13</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":"Main body is oversplit into lid, sides, front and bottom surfaces without clear separate functions.","merge_groups":[{"colors":["Pink","Yellow","Olive"],"target_part":"main box body","reason":"These are continuous wooden shell surfaces, not distinct functional parts."}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>