Add asset kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a

.gitattributes

@@ -7178,3 +7178,4 @@ dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mes
 dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/affordance_annot.json

@@ -0,0 +1,93 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the upper structure",
+                "add rigidity to the cabinet"
+            ],
+            "semantic_description": "Flat cream-white top panel with an embossed floral leaf pattern, bordered by beige trim, appearing rigid with a matte surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main cabinet structure and drawer outer faces",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides or lower outer body to lift or reposition the small drawer cabinet",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "form the outer housing",
+                "provide structural support",
+                "enclose storage volume",
+                "support drawer operation"
+            ],
+            "semantic_description": "Main box-shaped cream-white cabinet structure with embossed floral-textured outer faces and beige edging, matte and rigid, occupying most of the object including the visible drawer outer fronts in the mask.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull handle",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the recessed front handle to pull a drawer open",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to control drawer motion while sliding it",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "pull the drawer open",
+                "provide a grip point",
+                "control drawer motion"
+            ],
+            "semantic_description": "Small semicircular recessed handle on the drawer front, dark inset with a yellow-gold rim, smooth and slightly glossy.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim and corner frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top rim or corner frame to slightly reposition the cabinet",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "use the frame edge to steady the cabinet during drawer opening",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "protect corners",
+                "frame the panels",
+                "provide structural trim"
+            ],
+            "semantic_description": "Narrow beige trim pieces along the top rim, front rails, and vertical corners, with a smooth matte finish and elongated straight shape.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer handle and trim mask colors/part identities mismatch; body incorrectly includes drawer faces."
+    }
+}

dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc880892267f9b67af6556390b472e3b4b26b4afaf18a4999df9b80a2b442c5
+size 3786068

dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/storage_bin_064.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 surface is separated well, but handle/rim details are fragmented and most functional structure is merged into one body color.","merge_groups":[]}</PartSegChecker>