Add asset kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005

.gitattributes

@@ -7102,3 +7102,4 @@ dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/mes
 dataset/kitchen_supplies/storage/37c9c9934b795722981ad10f0493505d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/3a65da1b2d1b534d8cfd688c0b0b300c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/affordance_annot.json

@@ -0,0 +1,118 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body frame",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels of the cabinet body to lift or reposition the unit",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose the drawers",
+                "provide the main load-bearing body",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large off-white cabinet body made of painted wood or engineered wood with a matte smooth finish, forming the tall tapered outer shell around the drawers.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a closed drawer front at its edge or face to pull the drawer open if not using the recessed pull",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "push on a drawer front to slide the drawer closed",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "close the front of each drawer",
+                "provide access to drawer compartments",
+                "transfer pushing and pulling motion to the drawer",
+                "define the visible drawer stack"
+            ],
+            "semantic_description": "Multiple off-white rectangular painted drawer front panels with a matte smooth finish, stacked vertically on the front of the cabinet.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer / drawer box",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the protruding open bottom drawer from the sides or front edge to pull it farther out",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the bottom drawer when removing or carrying it after detaching from the slides",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out for access",
+                "support loading and unloading contents",
+                "serve as a removable storage compartment"
+            ],
+            "semantic_description": "Off-white open bottom drawer with a matte painted finish and smooth hard surfaces, protruding from the lower front of the cabinet as a shallow rectangular storage compartment.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg area briefly to stabilize the cabinet during repositioning",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "hold a leg during assembly or while tilting the cabinet slightly",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet above the floor",
+                "provide ground clearance",
+                "help stabilize the furniture"
+            ],
+            "semantic_description": "Short narrow off-white legs or feet with a painted matte finish and smooth hard surfaces, located at the bottom corners of the cabinet.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom trim rail",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lower body elements",
+                "stiffen the base",
+                "protect the lower edge",
+                "provide decorative finishing detail"
+            ],
+            "semantic_description": "Thin off-white horizontal lower trim rail with a matte painted finish, running along the lower perimeter above the legs.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer-front mask mapping and part identity are incorrect; top drawer fronts are unannotated and white part is open lower drawer assembly, not just drawer box."
+    }
+}

dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a74974a59318c71a477e4a06b033eb8e587d1a4ce679945f8988de421d172e
+size 3826736

dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/drawer_023.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>7</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 parts are over-merged and drawer fronts are inconsistently split; merging cannot fully fix missing functional separation.","merge_groups":[{"colors":["Blue","Violet"],"target_part":"drawer stack/fronts","reason":"same drawer-front function, unnecessarily split"},{"colors":["White","Lawn Green"],"target_part":"bottom drawer and supports","reason":"small support fragments attached to same lower assembly"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>