Add asset kitchen_supplies/storage/77e6760085b5540a80f6590650f08481

.gitattributes

@@ -7123,4 +7123,4 @@ dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mes
 dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/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/776905d3fb645578925e5f9a9e8bdf3a/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/77e6760085b5540a80f6590650f08481/affordance/affordance_annot.json

@@ -0,0 +1,142 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet shell",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body from the sides or top to lift or reposition the small drawer cabinet",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the cabinet side or back to stabilize the unit while opening a drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the structure",
+                "provide external grasp surface",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large medium-to-dark brown wooden outer shell with visible wood grain, a smooth finish, and a rounded, wavy rectangular form covering most of the cabinet exterior.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts and front frame",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front edge to pull a drawer open",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the front frame to steady the cabinet during manipulation",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide drawer pulling surface",
+                "frame the drawer openings",
+                "cover the drawer interiors from the front",
+                "support the front opening structure"
+            ],
+            "semantic_description": "Cream or off-white painted wooden drawer faces together with the matching front perimeter frame, with smooth surfaces and rounded contours around the cabinet opening.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box interior",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer sidewall to slide the drawer farther out or remove it",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the drawer box while loading or unloading contents",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawer contents",
+                "slide in and out",
+                "provide internal storage volume"
+            ],
+            "semantic_description": "Dark brown wooden drawer boxes with visible wood grain and smooth hard surfaces, forming rectangular storage trays inside the cabinet.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "enable drawer opening",
+                "assist drawer closing",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round brown wooden knobs with a smooth finish, centered on each drawer front as compact protruding handles.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer alignment",
+                "enable sliding extension"
+            ],
+            "semantic_description": "Thin straight rail elements along the drawer sides, likely metal, with a smooth hard finish and positioned inside the cabinet opening.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a foot briefly while tilting or repositioning the cabinet",
+                    "confidence": 0.29
+                },
+                {
+                    "scenario": "hold a foot momentarily to stabilize the cabinet during placement",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the base",
+                "provide ground contact",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Small tapered brown wooden feet with a smooth finish, positioned near the lower corners to raise the cabinet slightly off the surface.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer rails are visible metal slides, not thin side rails only; foot graspability overstated and front-frame grouping is imprecise."
+    }
+}

dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb02d0787b58e80518b2ecfb92377d9f6f909756a5fd2c42cbd4cc29cea21e5a
+size 3809940

dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/drawer_082.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":"Main body, drawers, rails, and tiny parts are inconsistently segmented; closest fix is partial merging only.","merge_groups":[{"colors":["Blue","Olive"],"target_part":"main cabinet body","reason":"Outer shell and front rim are one housing"},{"colors":["Navy","Burnt Orange"],"target_part":"drawer slide hardware","reason":"Both mark rail/runner components"},{"colors":["Teal","Maroon"],"target_part":"small hardware/noise","reason":"Tiny pegs/fragments are not distinct functional parts"}]}</PartSegChecker>