Add asset kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb

.gitattributes

@@ -7090,3 +7090,4 @@ dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mes
 dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/269ef5bc24de550aa75b8f2dabb33bdb/affordance/affordance_annot.json

@@ -0,0 +1,117 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels to lift and reposition the small drawer cabinet",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose the drawers",
+                "provide mounting for drawer slides",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large off-white painted cabinet shell with a matte smooth hard surface, slightly tapered boxy shape, and the main outer structure surrounding the drawers.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front to pull the drawer open when not using the handle",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the drawer front to steady the partially opened drawer",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "form the visible drawer face"
+            ],
+            "semantic_description": "Flat off-white rectangular front panel with a painted matte smooth finish, medium-sized and mounted at the front of each drawer.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior base",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form the drawer bottom",
+                "contain contents"
+            ],
+            "semantic_description": "Flat medium-brown interior bottom panel with a smooth hard finish, recessed inside each drawer as the main load-bearing storage surface.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable sliding motion",
+                "guide drawer travel",
+                "support drawer alignment",
+                "connect drawer to cabinet body"
+            ],
+            "semantic_description": "Narrow light-gray to dark-gray metal rail assembly with a hard smooth finish, mounted along the drawer sides and cabinet interior to guide extension.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim trim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the top edge",
+                "protect the top perimeter",
+                "provide visual boundary"
+            ],
+            "semantic_description": "Thin off-white trim band along the top perimeter with a smooth hard finish, forming a narrow raised edge around the cabinet top.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical edge trim",
+            "mask_color": "Dark Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish side edges",
+                "protect corners",
+                "provide visual outline"
+            ],
+            "semantic_description": "Very thin off-white vertical edge strip with a smooth hard surface, running along visible front side edges near the cabinet corners.",
+            "id": 30,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Missing drawer handles; some graspability labels too strict for usable trim edges."
+    }
+}

dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d283e1b895f4b7d4dae6489290ff16e5d165b73fcf4d0f872d4d643527e9f7eb
+size 3811512

dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/drawer_029.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>12</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 over-fragmented by thin trim/edge colors; drawers and rails are acceptable.","merge_groups":[{"colors":["Orange","Indigo","Dark Green"],"target_part":"cabinet body","reason":"Thin edge and seam strips belong to same outer body surface"},{"colors":["Orange","White"],"target_part":"cabinet body","reason":"Small side/body patches are not distinct functional parts"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>