Add asset kitchen_supplies/storage/bc4ec8bb1eeb58268e3bb89064af37d2

.gitattributes

@@ -7159,3 +7159,4 @@ dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mes
 dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/bc4ec8bb1eeb58268e3bb89064af37d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/bc4ec8bb1eeb58268e3bb89064af37d2/affordance/affordance_annot.json

@@ -0,0 +1,56 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or top side edges to lift and move the small cabinet",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cabinet body at the side to stabilize it while opening or closing a drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the lower side frame to reposition the cabinet slightly on the floor",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide structural enclosure",
+                "bear load on top surface",
+                "stabilize the furniture",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large off-white or cream painted wooden cabinet body with a matte to satin finish, smooth hard surfaces, a rectangular slightly tapered form, and decorative trim forming the main outer shell and top of the drawer unit.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front foot",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the protruding foot area only as a minor contact point when nudging or stabilizing the cabinet during repositioning",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet off the floor",
+                "provide base stability",
+                "help distribute load to the ground"
+            ],
+            "semantic_description": "Small off-white painted wooden foot at the lower front corner of the cabinet, with a smooth hard surface and short protruding shaped form integrated into the base trim.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green mask is rear/right foot, not front foot; graspability and description need correction."
+    }
+}

dataset/kitchen_supplies/storage/bc4ec8bb1eeb58268e3bb89064af37d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5beb3601622b20fbc803e5409218c7bb0204d2e40c3256fdc03b42b6b678ae
+size 3777928

dataset/kitchen_supplies/storage/bc4ec8bb1eeb58268e3bb89064af37d2/drawer_006.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Green is inconsistent noise on different body areas; drawers and knobs are merged with cabinet and cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>