Add asset kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99

.gitattributes

@@ -7093,4 +7093,5 @@ dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mes
 dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/2d44155ddef55a589382a2ff894a8dca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/affordance_annot.json

@@ -0,0 +1,121 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body to lift or reposition the drawer unit",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while another gripper pulls a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the overall structure",
+                "provide mounting surfaces for drawer slides",
+                "stabilize stored contents"
+            ],
+            "semantic_description": "Large off-white rigid outer shell with a matte smooth finish, boxy rectangular shape, and flat side, top, back, and bottom panels forming the cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front and tray",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer side or front edge to pull the drawer open",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the drawer body after opening to remove or reposition it",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "present the drawer face",
+                "support contents inside the tray"
+            ],
+            "semantic_description": "Off-white hard drawer assembly with a matte smooth finish, shallow rectangular tray shape, and broad front panel positioned within the cabinet openings.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull cutout",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook into the recessed cutout to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the cutout area to control drawer closing",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable drawer opening",
+                "indicate drawer front orientation"
+            ],
+            "semantic_description": "Small recessed half-moon pull area on the drawer front, matching the off-white drawer face with a smooth matte hard surface and centered near the top edge.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer extension",
+                "keep drawer aligned"
+            ],
+            "semantic_description": "Long narrow slide rail visible along the side of an extended drawer, appearing as a smooth rigid linear hardware member darker than the off-white plastic parts.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner slide member",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect sliding hardware",
+                "enable telescoping movement",
+                "maintain drawer alignment"
+            ],
+            "semantic_description": "Thin narrow internal strip within the drawer slide assembly, visible as a slender darker hardware element running parallel to the main slide rail.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slide bracket or latch piece",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect slide components",
+                "support drawer-slide attachment",
+                "assist slide retention or alignment"
+            ],
+            "semantic_description": "Small compact side hardware piece near the front portion of the drawer-slide area, appearing tan to orange-brown in the rendered view with a short rectangular form.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer mask merges multiple drawers; pull cutout and brown hardware descriptions are inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9c2d76d73285099b38c62aa9b1a847e37b6e8449de8f15d35d9ec193a55def
+size 3790824

dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/drawer_020.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 interiors are merged; functional drawer units are fragmented inconsistently.","merge_groups":[{"colors":["Purple","Olive"],"target_part":"drawer unit","reason":"same drawer front/body split across colors"},{"colors":["Purple","Navy"],"target_part":"drawer unit","reason":"top drawer front and handle area belong together"}]}</PartSegChecker>