Add asset kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a

.gitattributes

@@ -7101,4 +7101,4 @@ dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mes
 dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/37c9c9934b795722981ad10f0493505d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/3a65da1b2d1b534d8cfd688c0b0b300c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/41eeda1a12655b849faf0887f8c36990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/affordance_annot.json

@@ -0,0 +1,109 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and reposition the small drawer unit",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the top edges to carry the unit short distances",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "enclose drawer cavities",
+                "provide structural frame",
+                "support placement on a surface",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Large light beige to tan wooden cabinet frame with a matte smooth finish and subtle wood grain, box-shaped with rounded top edges and short feet, forming the outer shell of the two-drawer unit.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer sides to pull it farther out or remove it",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the drawer box while reinserting it into the cabinet",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the drawer interior edges to carry the removed drawer",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide access to contents",
+                "support the drawer front",
+                "organize small objects"
+            ],
+            "semantic_description": "Rectangular light tan wooden drawer compartment with a matte smooth interior and visible wood grain, open-topped and sized to fit inside the cabinet, visible when a drawer is extended.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front by its semicircular cutout to pull the drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the upper drawer front by the round knob area to pull it open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "provide pulling surface",
+                "close the drawer opening",
+                "present the front face",
+                "protect contents",
+                "align the drawer visually"
+            ],
+            "semantic_description": "Flat light wood front panels with a matte smooth surface and rounded edges; the lower drawer front has a centered semicircular finger notch, and the upper drawer front has a centered round wooden knob.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide hardware",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer movement",
+                "help keep the drawer aligned",
+                "connect the drawer to the cabinet during sliding"
+            ],
+            "semantic_description": "Small metallic gray slide hardware visible along the drawer side inside the cabinet, narrow and slightly reflective, partially exposed only when a drawer is open.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer fronts are misdescribed; upper has notch, lower has knob. Gray hardware description also overstates visibility."
+    }
+}

dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7009b3712175944cf012aacd9c01b5ace3a5575b911ea1f8d3d37f28af0890c8
+size 3832552

dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/drawer_022.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 are split from drawer boxes; handles/slides are missing and some white areas overmerge interiors.","merge_groups":[{"colors":["Maroon","White"],"target_part":"drawer assembly","reason":"front and box are one functional pull-out part"}]}</PartSegChecker>