Add asset kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf

.gitattributes

@@ -7109,4 +7109,5 @@ dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mes
 dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/affordance_annot.json

@@ -0,0 +1,286 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top side edges to lift or reposition the cabinet",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet during drawer operation",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover the top",
+                "provide structural rigidity",
+                "support light items",
+                "offer a stabilization surface"
+            ],
+            "semantic_description": "Broad off-white top panel with a matte smooth hard surface, slightly overhanging the cabinet and forming the flat upper surface.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer fronts",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front at the recessed pull to open a shallow drawer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "push on a drawer front to close the drawer",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "close the upper storage compartments",
+                "provide pull surfaces",
+                "provide push surfaces",
+                "access stored contents"
+            ],
+            "semantic_description": "Stack of multiple off-white shallow drawer fronts with a matte smooth hard finish on the cabinet front, each rectangular face aligned vertically with a small recessed pull near the top.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull recesses",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a recessed pull to open a drawer",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the recessed pull to control drawer motion while closing",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable drawer opening",
+                "control drawer motion",
+                "indicate drawer access points"
+            ],
+            "semantic_description": "Small dark recessed pull cutouts integrated into each drawer front, appearing as shallow curved openings centered near the top of the drawer faces.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the recessed pull area on the bottom drawer front to pull out the deep drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push the bottom drawer front to close the drawer",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "close the bottom compartment",
+                "provide pull surface",
+                "provide push surface",
+                "access larger stored items"
+            ],
+            "semantic_description": "Wide off-white lower drawer face with a matte smooth hard surface, larger than the upper fronts and located at the cabinet base with a recessed pull.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel area to steady the unit during drawer manipulation",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "clamp the cabinet side to reposition the empty unit",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "enclose the side",
+                "provide structural support",
+                "align drawers",
+                "stabilize the cabinet body"
+            ],
+            "semantic_description": "Large off-white side panel with a matte smooth hard finish, flat and slightly tapered in appearance along the left side of the cabinet.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel area to steady the unit during drawer manipulation",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "clamp the cabinet side to reposition the empty unit",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "enclose the side",
+                "provide structural support",
+                "align drawers",
+                "stabilize the cabinet body"
+            ],
+            "semantic_description": "Large off-white side panel with a matte smooth hard finish, flat and slightly tapered in appearance along the right side of the cabinet.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear opening panel area",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the rear face region",
+                "bound the cabinet body",
+                "provide rear structural surface"
+            ],
+            "semantic_description": "Large off-white rear-facing panel area visible across the back of the cabinet body, with a matte smooth hard surface.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer tray",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed sides of the open bottom drawer tray to pull it farther out",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the tray edges to guide the drawer during closing",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support drawer contents",
+                "provide interior storage surface"
+            ],
+            "semantic_description": "Deep off-white rectangular drawer tray with a smooth hard finish, visible when the large bottom drawer is opened.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding load",
+                "align the drawer",
+                "reduce wobble"
+            ],
+            "semantic_description": "Narrow dark rail-like component along the lower side of the drawer opening, positioned near the cabinet base to support and guide the bottom drawer.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front base rail",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the lower frame",
+                "support the cabinet base",
+                "protect the bottom edge",
+                "maintain alignment"
+            ],
+            "semantic_description": "Thin off-white lower crosspiece with a matte hard finish spanning the front base area between the lower side supports.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to help tilt or reposition the cabinet during transport",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "hold a leg to stabilize the unit while accessing the lower drawer",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "elevate the cabinet",
+                "support the load",
+                "provide floor clearance",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Slim off-white tapered legs with a matte smooth hard finish at the cabinet corners, raising the body above the floor.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left front edge trim",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the front corner",
+                "stiffen the frame edge",
+                "define cabinet outline"
+            ],
+            "semantic_description": "Narrow dark vertical trim or edge strip running along the left front lower side of the cabinet body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front edge trim",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the front corner",
+                "stiffen the frame edge",
+                "define cabinet outline"
+            ],
+            "semantic_description": "Narrow off-white vertical trim strip with a smooth hard finish running along the right front corner of the cabinet body.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side support bar",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the lower frame",
+                "support the drawer opening",
+                "maintain spacing"
+            ],
+            "semantic_description": "Small lower structural support bar near the bottom side of the cabinet, visible beside the open lower drawer area.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and colors mismatch masks; rear panel mislabeled as opening, trims/support bars inaccurate, and some descriptions conflict with visible geometry."
+    }
+}

dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4501e110582beb6a073e7553b2aa5fbc7a65bbe07d41ceae0f15c1293b3ef1d
+size 3821228

dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/drawer_061.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>20</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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>