Add asset kitchen_supplies/storage/8c17a562c8435e4d867d98bde3da98be

.gitattributes

@@ -7132,4 +7132,4 @@ dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mes
 dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/8be91acf0f645f0d94a5ac4ef4dd5c04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8c17a562c8435e4d867d98bde3da98be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8c17a562c8435e4d867d98bde3da98be/affordance/affordance_annot.json

@@ -0,0 +1,146 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side edges of the top panel together with the body to help lift or reposition the cabinet",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the top panel lightly to stabilize the cabinet while another gripper opens a drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "cover the cabinet body",
+                "support lightweight items placed on top",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Large pastel pink top panel with a rounded star-like outline and smooth matte plastic appearance, forming the uppermost surface of the cabinet.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet body to lift the object",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while pulling a drawer open",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "form the main structure",
+                "enclose the drawer cavities",
+                "provide side surfaces for handling"
+            ],
+            "semantic_description": "Light aqua or turquoise outer shell with smooth matte finish and a bulbous star-like profile, surrounding the drawers and forming the main body beneath the top.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front edge or face to pull the drawer outward if the knob is not used",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "push on a drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "close the drawer openings",
+                "provide access to the storage compartments",
+                "support the knobs",
+                "form the visible front face of each drawer"
+            ],
+            "semantic_description": "Two cream-colored drawer fronts with wavy rectangular outlines and pink inset decoration, smooth glossy hard surfaces, located on the front of the cabinet.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a drawer knob to pull a drawer open",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold a knob to guide a drawer closed precisely",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide pull points",
+                "enable drawer opening",
+                "guide drawer closing",
+                "allow precise fingertip interaction"
+            ],
+            "semantic_description": "Small round protruding knobs on the drawer fronts, one pink and one pale yellow, glossy smooth hard surfaces sized for fingertip pinching.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store small items",
+                "provide the internal cavity",
+                "contain drawer contents"
+            ],
+            "semantic_description": "Brown interior compartment surfaces with smooth hard appearance, recessed inside the opened drawers and forming the storage space.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runner rails",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "align the drawer during opening and closing"
+            ],
+            "semantic_description": "Thin dark blue linear rails along the drawer sides, narrow smooth hard strips visible when drawers are open.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the base from the surface",
+                "improve stability"
+            ],
+            "semantic_description": "Small rounded feet at the lower corners and underside, visible as purple-pink rounded bumps with smooth hard surfaces that raise the cabinet slightly off the ground.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part identities are wrong; drawer interior, feet, and knobs are mislabeled, and drawer fronts description mismatches visible colors."
+    }
+}

dataset/kitchen_supplies/storage/8c17a562c8435e4d867d98bde3da98be/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc805a109e095483c084e2c803073735dadd7c54e7f1b715daf34155884051a1
+size 3746384

dataset/kitchen_supplies/storage/8c17a562c8435e4d867d98bde3da98be/drawer_068.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>11</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":"Main parts are mostly right, but knobs/feet are merged and one small fragment is inconsistent.","merge_groups":[{"colors":["Green","Lime Green"],"target_part":"support knobs/feet","reason":"same repeated rounded supports, inconsistently split"},{"colors":["Orange","Burnt Orange"],"target_part":"top surface","reason":"small strip belongs to same top border surface"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>