Add asset kitchen_supplies/storage/915ca580cedf5322a855fc7bf9666ba6

.gitattributes

@@ -7135,3 +7135,4 @@ dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mes
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/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/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/915ca580cedf5322a855fc7bf9666ba6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/915ca580cedf5322a855fc7bf9666ba6/affordance/affordance_annot.json

@@ -0,0 +1,132 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Blue",
+            "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": 0.92
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose the drawers",
+                "provide top surface",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large light-brown wooden cabinet shell with a matte smooth wood-grain finish, hard surfaces, and a rectangular box shape forming the top, sides, and most of the outer body of the nightstand.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer assembly",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the lower drawer front or side area to guide it closed or support it while removing the drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide access to contents",
+                "support drawer contents"
+            ],
+            "semantic_description": "Large rectangular lower drawer in light brown wood with a matte smooth wood-grain front and matching wooden interior, mounted in the lower half of the cabinet and shown partially open in several views.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a knob to pull a drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold a knob to guide a drawer closed",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open the drawers",
+                "close the drawers",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round light-wood knobs with a smooth matte finish, centered on the drawer fronts and protruding slightly for gripping.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer interior rail/back strip",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the upper drawer interior",
+                "help retain contents",
+                "provide drawer structure"
+            ],
+            "semantic_description": "Narrow light-brown wooden strip visible along the back interior edge of the upper drawer area, with a matte wood finish and flat elongated rectangular shape inside the cabinet opening.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower stretcher",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower stretcher to help tilt or reposition the cabinet during placement",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the stretcher to stabilize the unit while another gripper manipulates a drawer",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "brace the base",
+                "support structural rigidity",
+                "connect lower side supports",
+                "provide a low stabilization point"
+            ],
+            "semantic_description": "Horizontal light-brown wooden stretcher near the bottom front and side lower edges, with a matte smooth finish and elongated bar shape connecting the lower structure beneath the cabinet body.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel frame and lower edge trim",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce side panel perimeter",
+                "enclose the cabinet side",
+                "provide structural trim"
+            ],
+            "semantic_description": "Rectangular wooden trim framing the side panel and some lower side edge trim, matching the light-brown matte wood-grain finish and hard smooth texture on the outer side faces of the cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Multiple part identities mismatch masks: green is lower drawer front only, olive not visible, red are legs/base rails not stretcher."
+    }
+}

dataset/kitchen_supplies/storage/915ca580cedf5322a855fc7bf9666ba6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da10e03cd4560a1f520614cfcfe47267bbd5fb62e0d57f6c673dbc82a992ca1
+size 3800876

dataset/kitchen_supplies/storage/915ca580cedf5322a855fc7bf9666ba6/drawer_031.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>9</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":"Several distinct parts are merged incorrectly; drawer front/box and body surfaces are not cleanly separated.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>