Add asset kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c

.gitattributes

@@ -7151,3 +7151,4 @@ dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/affordance/mes
 dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/acc05ea68ff55f729b841ca632cdbfc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/affordance_annot.json

@@ -0,0 +1,89 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or top edges to lift and reposition the nightstand",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose drawer bays",
+                "provide exterior support surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large off-white painted wooden cabinet body with a matte smooth finish, forming the top, side panels, outer frame, and main shell of the small two-drawer nightstand, with subtle decorative side panel detailing.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or handle area to pull the drawer open",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the exposed drawer box while removing or reinserting it",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide access to contents",
+                "organize small objects"
+            ],
+            "semantic_description": "Two off-white painted wooden drawers with rectangular box shapes and decorative front faces, mounted in the upper and lower openings of the cabinet, each with a gold-toned curved handle.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer travel",
+                "support sliding motion",
+                "align the drawer",
+                "reduce wobble"
+            ],
+            "semantic_description": "Thin dark metal-looking slide rail mounted horizontally inside the cabinet near the drawer bay, visible as a narrow strip along the interior side.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower trim strips / foot accents",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative trim",
+                "cover or accent lower edges",
+                "visually frame the base area"
+            ],
+            "semantic_description": "Thin yellow-masked elongated strips along lower side/base edges and small lower corner accents, corresponding to narrow off-white painted wooden trim or foot-edge details near the cabinet base.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer description wrongly includes gold handles; handles are not segmented with drawers and visible trim/feet details are underspecified."
+    }
+}

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fabbabcf3789c74762510f8469dd850919885911f93ed2243f9bbb4478d9331
+size 3810224

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/drawer_052.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>6</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; top, frame, drawers, handles, and legs are not cleanly separated.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>