Add asset kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e

.gitattributes

@@ -7092,3 +7092,4 @@ dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mes
 dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/affordance_annot.json

@@ -0,0 +1,117 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side panels or top edges to lift or reposition the small drawer unit",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the frame to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the whole unit",
+                "enclose drawer compartments",
+                "provide structural rigidity",
+                "stabilize during drawer motion"
+            ],
+            "semantic_description": "Large off-white or cream painted wooden outer carcass with a smooth matte finish, hard flat surfaces, and a boxy shape forming the top, sides, and back around the drawers.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front at the semicircular finger cutout area to pull the drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the drawer body from the sides when removed for handling or reinsertion",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide access to contents",
+                "close the compartment opening"
+            ],
+            "semantic_description": "Two off-white or cream painted wooden drawers with smooth matte surfaces, rectangular shallow-box form, and front faces featuring semicircular finger cutouts.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.6855878829956055,
+                    "position": [
+                        0.3373137600719929,
+                        -0.041077117435634136,
+                        -0.10806532576680183
+                    ],
+                    "orientation": {
+                        "w": 0.08250593950887747,
+                        "xyz": [
+                            -0.7210025710248414,
+                            0.08156915836489631,
+                            0.6831504482359421
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rails",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding load",
+                "align drawer travel",
+                "enable smoother opening"
+            ],
+            "semantic_description": "Narrow gray metallic rails mounted along the inner sides of the cabinet, with a slightly reflective finish and elongated linear form supporting the drawer sliding mechanism.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side decorative bracket or foot detail",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative side detailing",
+                "reinforce or finish the side near the lower front area",
+                "visually transition between side panel and base trim"
+            ],
+            "semantic_description": "Small off-white painted protruding decorative bracket-like detail on the cabinet sides near the lower front area, with a smooth matte finish and curved, non-handle-like form.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom trim rail",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the base edge",
+                "stiffen the lower frame",
+                "protect the bottom perimeter",
+                "provide decorative trim"
+            ],
+            "semantic_description": "Thin lower edge strip along the cabinet base, appearing off-white with a smooth painted finish and narrow linear shape bordering the bottom perimeter.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Maroon and violet parts are misidentified; maroon marks inner frame strips, not decorative brackets, and violet marks a side seam/edge, not bottom trim."
+    }
+}

dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:223f91c81451b2273e90358d2ce62139579352e05c1f9fe9402865b6a34383fd
+size 3795456

dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/drawer_045.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</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 and cabinet body are merged; rails/gaps are overfragmented and partly inconsistent.","merge_groups":[{"colors":["Maroon","Violet"],"target_part":"drawer side/interior structure","reason":"Thin fragments on same drawer side surfaces"},{"colors":["Pink","Jade"],"target_part":"drawer assembly","reason":"Jade appears as small patch on drawer side"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>