Add asset kitchen_supplies/storage/e85d5d07ffb65357b5e4c795d5bc1632

.gitattributes

@@ -7185,4 +7185,4 @@ dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mes
 dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6aea63e88ad55c4b7610cf4a80f1296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/e6eda01ea2af52f5ae3da9b505f04917/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e85d5d07ffb65357b5e4c795d5bc1632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e85d5d07ffb65357b5e4c795d5bc1632/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the nightstand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the top surface or edge to stabilize the unit while opening a drawer",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a flat placement surface",
+                "cover the cabinet top",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Flat rectangular light beige wood top panel with a matte finish and subtle wood grain, forming the broad upper surface of the nightstand.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body and legs",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls or lower frame to lift or carry the nightstand",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet side to stabilize it while pulling a drawer open",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide the structural frame",
+                "support the drawers",
+                "enclose the drawer cavity",
+                "support the unit on its legs"
+            ],
+            "semantic_description": "Main light beige wooden carcass and legs with a matte smooth finish and visible wood grain, including the side panels, frame, and lower supporting structure.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer boxes and front faces",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge or sides to pull an openable drawer outward",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "form the visible drawer faces",
+                "store items in sliding compartments",
+                "transmit push-pull force to the drawers"
+            ],
+            "semantic_description": "Stacked drawer assemblies in light beige wood with matte finish and subtle wood grain; the front faces are rectangular and the open drawer reveals matching side walls.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior base",
+            "mask_color": "Light Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form the drawer bottom",
+                "contain contents"
+            ],
+            "semantic_description": "Flat rectangular bottom panel inside the open drawer, light beige to pale taupe with a matte smooth surface.",
+            "id": null
+        },
+        {
+            "part_name": "inner drawer side panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed inner drawer side to guide a partially removed drawer",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the drawer side to stabilize the drawer during reinsertion",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "form the drawer wall",
+                "contain contents laterally",
+                "connect the drawer front and back to the base"
+            ],
+            "semantic_description": "Narrow inner side wall of the drawer, light beige wood-toned with a matte finish and flat rectangular form, visible when the drawer is open.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side inset panel frame",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative border detail",
+                "frame the side inset panel",
+                "slightly reinforce the side-panel perimeter"
+            ],
+            "semantic_description": "Raised rectangular border around the side panel, light beige wood with a matte finish and shallow framed profile visible on both cabinet sides.",
+            "id": 19,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities mismatch mask: green is top drawer front, pink is lower drawer fronts, jade is side panel border, olive is drawer interior side."
+    }
+}

dataset/kitchen_supplies/storage/e85d5d07ffb65357b5e4c795d5bc1632/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2614c97ef2dae51e1219b68a5fc05b4747184e27715c032ff259454da165cbda
+size 3806136

dataset/kitchen_supplies/storage/e85d5d07ffb65357b5e4c795d5bc1632/drawer_057.urdf

@@ -57,6 +57,7 @@
                <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: {"summary":"Drawer front and drawer box are merged/misassigned; output not functionally actionable.","merge_groups":[{"colors":["Red","Pink"],"target_part":"drawer assembly","reason":"Same sliding drawer structure across views"},{"colors":["Blue","Jade"],"target_part":"cabinet outer shell","reason":"Top and trim/frame are one body shell"}]}</PartSegChecker>