Add asset kitchen_supplies/storage/7fdaa802e9ad59ce89d7d99ff07cfbb3

.gitattributes

@@ -7125,3 +7125,4 @@ dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mes
 dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/7fdaa802e9ad59ce89d7d99ff07cfbb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/7fdaa802e9ad59ce89d7d99ff07cfbb3/affordance/affordance_annot.json

@@ -0,0 +1,56 @@
+{
+    "affordances": [
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front or handle area to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a drawer front to push the drawer closed",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "store items in sliding drawers",
+                "provide access through drawer fronts",
+                "slide in and out on side rails"
+            ],
+            "semantic_description": "Three light beige wood drawers with smooth flat fronts and rectangular brown handles centered on each drawer. The drawers are stacked vertically at the front of the cabinet, with metal slide rails visible from angled views when opened.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet outer shell, top, and base frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side edges of the cabinet shell to lift or reposition the small drawer unit",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "press or hold the top surface or base frame to stabilize the cabinet while opening or closing a drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "form the outer housing",
+                "provide the top surface",
+                "add structural rigidity",
+                "enclose and support the drawers",
+                "support the unit through the base frame and legs"
+            ],
+            "semantic_description": "Dark brown cabinet body with a broad flat rectangular top, paneled side surfaces, and an integrated lower base frame with short legs. The finish appears smooth and matte to satin, surrounding the lighter beige drawers.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color part identities are swapped; green is shell, purple is drawers. Drawer handle description and shell graspability are also inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/7fdaa802e9ad59ce89d7d99ff07cfbb3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1ac2d3d5d65d167bad6adec0f6af86a641fb8be0271a1bfbe76e1a8ece246d
+size 3784556

dataset/kitchen_supplies/storage/7fdaa802e9ad59ce89d7d99ff07cfbb3/drawer_018.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":"Drawers and cabinet body are merged across views; drawer fronts, sides, handles, and frame are not functionally separated.","merge_groups":[]}</PartSegChecker>