Add asset kitchen_supplies/storage/17c9c72faeaf56318235ab4adae2e0cc

.gitattributes

@@ -7083,4 +7083,4 @@ dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mes
 dataset/kitchen_supplies/storage/12783012224154238543aeef43392dd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/17c9c72faeaf56318235ab4adae2e0cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/17c9c72faeaf56318235ab4adae2e0cc/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side or top edge to lift and reposition the drawer unit",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing drawers",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the lower side of the cabinet body to tilt or carry the unit",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide structural frame",
+                "enclose drawer cavities",
+                "support tabletop surface",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Large off-white painted wood body with a matte smooth hard surface, boxy tapered shape, and small integrated feet forming the main outer frame around the drawers.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the sides of an open drawer to remove or reposition it",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide access to contents",
+                "act as pull surface",
+                "organize small objects"
+            ],
+            "semantic_description": "Off-white painted wooden drawers with matte smooth hard faces and shallow rectangular box shapes, stacked on the front of the cabinet.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side rail or inner support panel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer alignment",
+                "connect or reinforce the drawer side structure",
+                "help guide drawer motion within the cabinet"
+            ],
+            "semantic_description": "Small narrow off-white structural strip or panel visible along the inner side near the drawer opening, with a smooth painted hard surface and elongated rectangular shape.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Teal part identity is incorrect; mask marks drawer slide/runner area, not a support panel, and it is graspable for drawer removal/manipulation."
+    }
+}

dataset/kitchen_supplies/storage/17c9c72faeaf56318235ab4adae2e0cc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92ab3c04c442c408cc60aa38d843e7d5a2a9f7c28345f02e47d1b936a62ded2b
+size 3783056

dataset/kitchen_supplies/storage/17c9c72faeaf56318235ab4adae2e0cc/drawer_016.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 opened drawers are merged inconsistently; one missing functional region cannot be fixed by merging","merge_groups":[]}</PartSegChecker>