Add asset kitchen_supplies/storage/23b00d3600485219a5835b1a229b0d36

.gitattributes

@@ -7086,4 +7086,4 @@ dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mes
 dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/23b00d3600485219a5835b1a229b0d36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/23b00d3600485219a5835b1a229b0d36/affordance/affordance_annot.json

@@ -0,0 +1,179 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edges of the top to lift or reposition the small nightstand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while opening or closing the drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet body",
+                "support placed items",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Large flat light-brown wooden top with a matte finish and visible wood grain, forming the upper surface of the small drawer cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main cabinet body",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side or outer frame to lift or carry the nightstand",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize the furniture while pulling the drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "form the main structure",
+                "support the drawer opening",
+                "enclose the storage area",
+                "provide exterior support surfaces"
+            ],
+            "semantic_description": "Light-brown wooden outer body with smooth matte panels and subtle wood grain, forming the side framing and overall cabinet structure around the drawer compartment.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a broad side panel to steady the cabinet during drawer operation",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "use the side panel area as a supporting contact surface when lifting the cabinet",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "provide structural support",
+                "define the outer body shape"
+            ],
+            "semantic_description": "Large rectangular light-brown wooden side panel with a matte finish and visible wood grain, mounted on the left or right side of the cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to slightly reposition or drag the small cabinet",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "hold a leg to steady the unit during manipulation",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body from the floor",
+                "provide ground clearance",
+                "stabilize stance"
+            ],
+            "semantic_description": "Small turned light-brown wooden leg with a matte finish, tapered decorative shape, located at the bottom corners of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom apron and lower rails",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower rail from underneath to help lift the cabinet",
+                    "confidence": 0.47
+                },
+                {
+                    "scenario": "hold the bottom frame to stabilize the unit during drawer movement",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "brace the lower structure",
+                "connect the legs",
+                "support the cabinet base",
+                "add rigidity"
+            ],
+            "semantic_description": "Narrow light-brown wooden rails around the lower perimeter with a matte finish and elongated straight shape, connecting the legs near the base.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the drawer open",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "pull the drawer",
+                "provide a front grip",
+                "guide drawer motion"
+            ],
+            "semantic_description": "Small round brass-colored knob with a slightly reflective metallic finish, centered on the drawer front as the primary pull handle.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer travel",
+                "reduce friction during opening",
+                "keep drawer aligned"
+            ],
+            "semantic_description": "Slim silver metal slide rail with a semi-reflective finish, mounted along the inner side of the cabinet/drawer to guide extension.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front lower trim",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the lower front edge",
+                "reinforce the front lower area",
+                "protect the lower front profile"
+            ],
+            "semantic_description": "Thin light-brown wooden trim strip with a matte finish and narrow straight shape, running along the lower front edge beneath the drawer area.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Missing major drawer front part; knob mislabeled as centered on drawer front and body/side segmentation is inconsistent."
+    }
+}

dataset/kitchen_supplies/storage/23b00d3600485219a5835b1a229b0d36/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90150f724f3079f1711ad1c844f4d100a7b81e464c7dc67cc7a104acee8fda3e
+size 3819136

dataset/kitchen_supplies/storage/23b00d3600485219a5835b1a229b0d36/drawer_007.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; body, drawer front, and handle are not cleanly separated.","merge_groups":[{"colors":["Red","Navy"],"target_part":"drawer box","reason":"same drawer structure split across faces and edges"},{"colors":["Green","Deep Sky Blue"],"target_part":"cabinet frame/legs","reason":"outer frame and legs are one support structure"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>