Add asset kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20

.gitattributes

@@ -7117,3 +7117,4 @@ dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/mes
 dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/affordance_annot.json

@@ -0,0 +1,104 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer cabinet shell",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet body from the sides to lift or reposition the small drawer unit",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the outer shell to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the whole drawer unit",
+                "enclose the drawers",
+                "provide structural rigidity",
+                "provide exterior contact surfaces"
+            ],
+            "semantic_description": "Large sculpted outer housing with a smooth satin finish, predominantly white to light gray with darker brown-gray shaded areas, forming a rounded wavy shell around the drawers.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light wood drawer fronts and exposed lower drawer box",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed lower drawer box at its side edges to pull it farther open",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "push on a light-wood drawer front area to guide the drawer closed",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover drawer openings for the light-wood drawers",
+                "form visible front faces of the upper and lower drawers",
+                "provide contact surfaces for opening and closing drawers",
+                "contain items in the exposed lower drawer box"
+            ],
+            "semantic_description": "Light natural-wood parts with a smooth matte finish and visible fine wood grain, including the upper drawer front and the exposed lower drawer box/front area visible when the bottom drawer is open.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer front at the knob area to pull the drawer open",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "push on the middle drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "open the middle drawer",
+                "close the middle drawer",
+                "cover the drawer contents",
+                "provide a front pulling surface"
+            ],
+            "semantic_description": "Dark brown wooden drawer front with a smooth matte surface and visible wood grain, spanning the central front opening.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a round knob to pull its drawer open",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold a knob to guide the drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide pull handles",
+                "enable drawer opening",
+                "guide drawer closing",
+                "offer precise gripping points"
+            ],
+            "semantic_description": "Small round knobs with smooth hard surfaces, one white on the upper drawer, one brown on the middle drawer, and one white on the lower drawer, each protruding slightly from the front.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Lime Green part identity and description are wrong; it covers interior/opening regions, not only wood drawer fronts and lower drawer box."
+    }
+}

dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1394179cd46cfc671a51bcd064fe5c5615c9b452222e796b3c4454986ee7ff
+size 3784376

dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/drawer_103.urdf

@@ -57,6 +57,7 @@
                <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: {"summary":"Drawer fronts and cabinet interior are merged; segmentation misses functional drawer parts.","merge_groups":[]}</PartSegChecker>