Add asset kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc

.gitattributes

@@ -7089,4 +7089,4 @@ dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mes
 dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/2569367829ab52b480a5e256c23172c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels to lift or reposition the nightstand",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the body to stabilize the cabinet while opening or closing the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose the drawer cavity",
+                "provide stability",
+                "bear loads from the top surface",
+                "support the drawer mechanism"
+            ],
+            "semantic_description": "Large light brown wooden cabinet frame with a matte smooth wood-grain finish, hard rigid surfaces, and a boxy form with four tapered legs forming the outer shell.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front knob or the top edge of the drawer front to pull the drawer open",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the drawer front to stabilize the drawer during removal",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a pulling surface",
+                "mount the drawer knob",
+                "transmit force to move the drawer",
+                "form the visible front face of the drawer"
+            ],
+            "semantic_description": "Flat rectangular light brown wooden front panel with a matte smooth wood-grain finish and hard rigid surface; the face has a single small round knob centered on the panel.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer box sides to remove or insert the drawer",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the drawer box while transporting it when detached",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "store contents",
+                "contain loose items",
+                "slide in and out",
+                "support the drawer front"
+            ],
+            "semantic_description": "Open-top light brown wooden drawer compartment with matte smooth inner surfaces, hard rigid walls, and a rectangular box shape that fits inside the cabinet body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding",
+                "align the drawer",
+                "connect drawer to cabinet body"
+            ],
+            "semantic_description": "Narrow metallic rail assembly along the drawer sides with a smooth slightly reflective finish and elongated linear shape, partially visible between the cabinet body and drawer box.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Gray slide rail part is not present in mask; drawer front description misses there are two drawer fronts/knobs."
+    }
+}

dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3812595ba339945a9876ad868213cf5b216ca4014079fb0733ba15e7350eb6c9
+size 3784428

dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/drawer_053.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>YES</PartSegChecker>