Add asset kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1

.gitattributes

@@ -7133,4 +7133,4 @@ dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mes
 dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/8f87c539d66a5ccfbbd0f5dcbcb0e702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/affordance_annot.json

@@ -0,0 +1,74 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side or top edge of the cabinet to lift or reposition the nightstand",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the frame to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose and guide drawers",
+                "provide external support surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large off-white painted wooden body with a matte to satin finish and smooth hard surfaces, forming the top, outer side walls, front frame, base, and legs of the drawer unit with paneled detailing.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts and drawer boxes",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer pull area or front edge to open a drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer front to slide the drawer closed",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the exposed drawer side or front to steady a partially open drawer",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "pull drawers open",
+                "push drawers closed",
+                "provide handhold for drawer manipulation",
+                "form the movable drawer compartments"
+            ],
+            "semantic_description": "Off-white painted wooden drawer fronts and visible drawer box sides/bottoms with a smooth hard finish, rectangular shape, recessed panel styling on the fronts, and small integrated curved pulls at the front.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior bottom surfaces",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items inside the drawers",
+                "form the base of the drawer interior",
+                "provide interior storage surface"
+            ],
+            "semantic_description": "Dark brown to nearly black flat interior bottom panels visible inside the open drawers and from above, with a smooth finish and rectangular shape recessed within the off-white drawers.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Pink and maroon parts are misidentified; pink is only bottom drawer/front pieces, maroon is side panels/top interior, not drawer bottoms."
+    }
+}

dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f101cb0db09d73cbd4fdb53b30abdf5fbce2ae1f5e25eaf4374d5885fa2b9d
+size 3785844

dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/drawer_015.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</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":"Segmentation mixes exterior body with drawers and side panels; key functional parts are not cleanly separated.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>