Add asset kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28

.gitattributes

@@ -7178,4 +7178,5 @@ dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mes
 dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/de1e4a4bb7695a4fa523149645a4ecb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/affordance_annot.json

@@ -0,0 +1,208 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop frame",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the nightstand",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top edge to stabilize the unit while opening a drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "form the raised top border",
+                "support items placed on top",
+                "protect the top panel edge",
+                "contribute to upper structure"
+            ],
+            "semantic_description": "Light beige wood outer top frame with a matte finish and subtle grain, rectangular and slightly raised around the top surface.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top inset panel",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide the main top surface",
+                "support placed items",
+                "fill the center of the tabletop",
+                "add decorative panel detail"
+            ],
+            "semantic_description": "Light beige wooden center top panel with a matte smooth finish and visible fine grain, recessed within the surrounding top frame.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or carry the nightstand",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while pulling a drawer",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer space",
+                "provide structural housing",
+                "support the top and legs",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Main exterior carcass in light beige wood with a matte finish and subtle grain, forming the front, sides, and lower housing of the small two-drawer cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box and inner face",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer sides or inner box to pull it farther out",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the drawer box during drawer removal or reinsertion",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out of the cabinet",
+                "provide drawer storage volume",
+                "support drawer contents"
+            ],
+            "semantic_description": "Wooden drawer box and visible inner face surfaces in a bluish-cyan mask region, corresponding in RGB to light to medium brown wood with a matte finish, straight flat panels, and an open rectangular interior.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the knob to push a drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable drawer opening",
+                "assist drawer closing",
+                "mark the center of the drawer front"
+            ],
+            "semantic_description": "Small round light wood knob with a smooth matte to satin finish, centered on each drawer front and protruding outward.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg while repositioning or lifting the nightstand",
+                    "confidence": 0.54
+                },
+                {
+                    "scenario": "hold a leg to steady the furniture during inspection",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet off the floor",
+                "elevate the body",
+                "provide standing stability"
+            ],
+            "semantic_description": "Turned tapered wooden leg in light beige wood with a matte finish, slender and rounded, positioned at the lower corners.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel inset",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad side panel area to help carry the cabinet from the side",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "press or hold the side panel to steady the cabinet during drawer use",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide side enclosure",
+                "add structural rigidity",
+                "protect drawer contents from the side",
+                "form a decorative recessed side panel"
+            ],
+            "semantic_description": "Broad recessed rectangular side panel in light beige wood with a matte finish and subtle grain, centered within the side framing of the cabinet.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner trim",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the front corner edge",
+                "protect the cabinet edge",
+                "add decorative trim detail"
+            ],
+            "semantic_description": "Narrow vertical wooden strip in light beige with a matte finish, running along the front side corner of the cabinet.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower stretcher trim",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the lower side structure",
+                "finish the lower edge",
+                "add decorative lower trim"
+            ],
+            "semantic_description": "Thin horizontal wooden trim piece in light beige, located near the base of the side panel area above the legs with a matte smooth finish.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "help align the drawer",
+                "support smooth sliding"
+            ],
+            "semantic_description": "Slim narrow rail-like element visible near the drawer opening on the cabinet interior, appearing as a thin wooden guide strip with a smooth manufactured look.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part mappings are wrong; side panel inset and lower trim mislabeled, top inset color mismatched, drawer rail color mismatched."
+    }
+}

dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ed0b8da7f4f79b94a414fcca9a254f9bf0a6ace098726c75a943841d6017ff
+size 3804992

dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/drawer_010.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>10</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":"Back/side body panels are over-segmented into several colors without distinct functions.","merge_groups":[{"colors":["Pink","Maroon","Violet","Hot Pink"],"target_part":"main body","reason":"All are outer cabinet panels of same structure"},{"colors":["Cyan","Indigo"],"target_part":"drawer interior","reason":"Both mark the same drawer tray surfaces"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>