Add asset kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e

.gitattributes

@@ -7121,4 +7121,5 @@ dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mes
 dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/70be8a79f6e757029bdc80cb6ae1a203/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/affordance_annot.json

@@ -0,0 +1,88 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel, drawer fronts, and lower front apron/bottom panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front edge or face to pull the drawer open or push it closed",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the upper drawer front to open or close the top drawer",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the top panel or upper front area to steady or reposition the nightstand",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide the top surface of the nightstand",
+                "form the visible front faces of the drawers",
+                "help enclose the cabinet structure",
+                "provide broad contact surfaces for stabilizing and repositioning"
+            ],
+            "semantic_description": "Light brown wood-look top panel and drawer fronts with a matte smooth finish, subtle wood grain, flat rectangular surfaces, softly rounded top edges, plus a matching lower front apron/bottom panel on a small nightstand.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet side and back panels",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side panel to stabilize the nightstand while another gripper manipulates a drawer",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the cabinet body from the side or back to carry or reposition the furniture",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "form the side and rear enclosure",
+                "support structural rigidity of the cabinet body",
+                "provide broad surfaces for stabilizing the object",
+                "support drawer mounting and alignment"
+            ],
+            "semantic_description": "Broad light-brown wooden side and back panels with a matte finish, visible wood grain, flat rectangular faces, and hard rigid surfaces forming most of the cabinet exterior.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handle",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp or press on the handle to push a drawer closed",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch the handle to steady the drawer front during manipulation",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point for opening drawers",
+                "provide a grip point for closing drawers",
+                "mark the drawer pull location",
+                "assist controlled drawer manipulation"
+            ],
+            "semantic_description": "Small metallic drawer pull, gold to brass in color, with a smooth slightly reflective finish and a short horizontal rectangular form mounted at the center of each drawer front.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red part grouping is incorrect; mask includes top, drawer fronts, and open drawers, not lower front apron/bottom panel."
+    }
+}

dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31bb2b3f232864967288c942a19f05b00bdb207a77029a9fbd4031dd76f08469
+size 3808500

dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/drawer_058.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":"Top, drawers, and base are merged; teal is just thin side fragments, not a functional part.","merge_groups":[]}</PartSegChecker>