Add asset kitchen_supplies/storage/9723e8ca65ba50b086c9e72b86502a4d

.gitattributes

@@ -7140,3 +7140,4 @@ dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mes
 dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9662fb1eb26f55efbc5c46a970a82f50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9723e8ca65ba50b086c9e72b86502a4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9723e8ca65ba50b086c9e72b86502a4d/affordance/affordance_annot.json

@@ -0,0 +1,169 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the nightstand",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while opening or closing a drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet from above",
+                "support placed items",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Flat off-white painted wooden top with a matte smooth finish, broad rectangular shape, and slightly overhanging beveled edges at the uppermost part of the cabinet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet to lift or carry the drawer unit",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize it while pulling a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "house the drawers",
+                "provide side protection",
+                "stabilize the furniture body"
+            ],
+            "semantic_description": "Large off-white painted wooden carcass with a matte smooth hard surface, boxy paneled form, and four short feet surrounding the drawers and internal storage space.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge or face to pull the drawer open when not using the knob",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a pulling face",
+                "protect drawer contents",
+                "present the visible drawer facade"
+            ],
+            "semantic_description": "Rectangular off-white painted wooden drawer face with a matte smooth finish and recessed panel detailing on the front of each drawer.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side inset panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed side panel area to help rotate or reposition the cabinet",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet during drawer operation",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "provide lateral structural support",
+                "protect internal contents",
+                "form the decorative side surface"
+            ],
+            "semantic_description": "Large off-white painted wooden inset side panel with recessed detailing, matte smooth finish, and rectangular shape centered on the left and right exterior sides of the cabinet.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side frame trim",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the side inset panel",
+                "finish the cabinet edge",
+                "provide minor edge protection",
+                "add decorative detailing"
+            ],
+            "semantic_description": "Narrow off-white painted wooden trim bordering the side inset panel near the front and top edges, with a smooth matte finish.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to control drawer motion while closing",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "enable drawer opening",
+                "help control drawer closing"
+            ],
+            "semantic_description": "Small round gold-toned metal knob with a reflective smooth finish, centered on each drawer front and sized for fingertip or gripper pinching.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide",
+            "mask_color": "Dark Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support sliding motion",
+                "reduce friction",
+                "guide drawer extension",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Slim gray metal slide hardware with a dull smooth finish, mounted along the drawer sides inside the cabinet and visible when a drawer is open.",
+            "id": null
+        },
+        {
+            "part_name": "drawer interior base",
+            "mask_color": "Brown/Wood",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored contents",
+                "form the drawer bottom",
+                "contain items from below"
+            ],
+            "semantic_description": "Flat medium-brown wood panel with visible grain and a matte finish, spanning the bottom interior surface of the open drawer.",
+            "id": null
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer slide mask color and knob visibility are mismatched; side trim description also inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/9723e8ca65ba50b086c9e72b86502a4d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f84bbdb8f76e4cfde7a82e371de0cb618e13df14315f7de29dfffa8bc10d2e
+size 3807892

dataset/kitchen_supplies/storage/9723e8ca65ba50b086c9e72b86502a4d/drawer_042.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":"Major functional parts are merged incorrectly; drawers and cabinet body are not distinctly segmented.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>