Add asset kitchen_supplies/storage/154be723f9a35585ba928ee95d4646d7

.gitattributes

@@ -7079,4 +7079,4 @@ dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/affordance/mes
 dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/154be723f9a35585ba928ee95d4646d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/154be723f9a35585ba928ee95d4646d7/affordance/affordance_annot.json

@@ -0,0 +1,149 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or top edges to lift or reposition the small drawer cabinet",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "house and align the drawers",
+                "provide exterior grasp surfaces",
+                "stabilize stored contents"
+            ],
+            "semantic_description": "Large rectangular outer cabinet in muted gray-brown wood with a matte finish and subtle wood grain, forming the top, sides, back, and lower frame around the drawers.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panels",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front edge to pull a drawer open when not using the knob",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a front pushing or pulling surface",
+                "protect drawer contents",
+                "present the visible front face of each drawer"
+            ],
+            "semantic_description": "Flat light wood drawer fronts with visible grain and a matte smooth finish, broad rectangular faces at the front of each drawer.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer boxes",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer box from underneath or at the side when the drawer is extended for removal or repositioning",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the drawer box to stabilize it while inspecting or unloading contents",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support contents",
+                "slide out for access",
+                "form the main storage compartment of each drawer"
+            ],
+            "semantic_description": "Open rectangular drawer boxes in light tan wood with a matte finish, visible mainly on the bottom and inner surfaces when the drawers are pulled out.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the round knob to pull a drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "use the knob to guide or push the drawer closed",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a pull handle",
+                "enable drawer opening",
+                "aid drawer closing",
+                "mark the drawer center"
+            ],
+            "semantic_description": "Small round light wooden knobs with a smooth matte finish, centered on each drawer front and protruding slightly for fingertip or gripper purchase.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panels",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the side walls of the drawer",
+                "connect the drawer front to the back",
+                "help contain contents",
+                "support the drawer box structure"
+            ],
+            "semantic_description": "Narrow light wood side boards along the drawers, visible when the drawers are extended; matte wood with simple flat surfaces.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "metal slide rails",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable smooth drawer extension",
+                "mechanically support drawer motion",
+                "control linear sliding",
+                "connect the drawers to the cabinet"
+            ],
+            "semantic_description": "Slender dark gray metal rails with a slightly reflective finish, mounted along the drawer sides and visible in the side gaps when the drawers are open.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate it slightly from the floor",
+                "improve stability",
+                "protect the base from direct floor contact"
+            ],
+            "semantic_description": "Four short reddish-brown pointed feet at the cabinet corners, with a smooth finish and tapered shape that raises the unit slightly above the floor.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer fronts color/function mismatch; side panels and feet graspability too strict; bottom panel mislabeled as drawer box in one view."
+    }
+}

dataset/kitchen_supplies/storage/154be723f9a35585ba928ee95d4646d7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8500fae6d5af79f25d338f2c727f49308c15960bba26713c600d7eeb356f11
+size 3809548

dataset/kitchen_supplies/storage/154be723f9a35585ba928ee95d4646d7/drawer_011.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>9</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":"Drawer fronts, interiors, and feet are inconsistently merged/split; handle parts are missed.","merge_groups":[{"colors":["Brown","Magenta"],"target_part":"drawer assembly","reason":"drawer boxes and fronts are one functional part here"},{"colors":["Cyan","Violet"],"target_part":"cabinet body","reason":"thin violet strip is just body edge detail"},{"colors":["Red","Cyan"],"target_part":"cabinet body","reason":"feet are fixed body supports, not separate mechanisms"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>