Add asset kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3

.gitattributes

@@ -7096,4 +7096,5 @@ dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mes
 dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/3433608005a758b2ac1e3e024351b78c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/affordance_annot.json

@@ -0,0 +1,136 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top panel edges to steady or reposition the small cabinet",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "pinch a top corner to slightly rotate or align the unit during placement",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "support items placed on top",
+                "cap the cabinet body",
+                "stabilize the upper structure"
+            ],
+            "semantic_description": "Flat medium-brown wooden top with a satin finish, smooth hard surface, visible wood grain, and a broad rectangular shape covering the cabinet's upper side.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the frame to lift or carry the drawer unit",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize it while opening a drawer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the outer body corners to reposition the furniture",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "house the drawers",
+                "provide the main load-bearing frame",
+                "form the visible outer enclosure"
+            ],
+            "semantic_description": "Large medium-brown wooden structure with a satin finish, hard smooth surfaces, visible wood grain, and a boxy form comprising the side panels, back, and outer cabinet body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior tray",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an exposed drawer side or bottom to pull the drawer out when the knob is not used",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the drawer tray while removing it fully from the cabinet",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out for access",
+                "organize contents",
+                "support drawer contents"
+            ],
+            "semantic_description": "Rectangular brown wooden drawer tray with a matte interior, hard smooth surfaces, visible grain, and a shallow box form nested inside the cabinet behind each drawer front.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide a drawer closed",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the knob to stabilize the drawer during partial opening",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open the drawer",
+                "close the drawer",
+                "indicate drawer front center"
+            ],
+            "semantic_description": "Small round golden or brass-colored knob with a slightly glossy finish, smooth hard surface, and centered placement on each drawer front as the primary handhold.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a foot or lower corner area to steady the cabinet during repositioning",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold a foot briefly while tilting or lifting the small cabinet from below",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet off the floor",
+                "provide ground clearance",
+                "stabilize the base",
+                "distribute load to the floor"
+            ],
+            "semantic_description": "Short carved brown wooden feet with a satin finish, hard smooth texture, and small tapered shapes at the cabinet corners lifting the body slightly above the floor.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Knob mask color and foot mask color are incorrect; feet color also mismatches visible part grouping."
+    }
+}

dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e53423333cab5e58ec9289606952b8f1fdfa4faa857da6b4844b744580b20d0
+size 3792284

dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/drawer_008.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</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 functional parts are merged incorrectly; drawers and cabinet body share colors, while top and legs are split off.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>